Optical-guided autonomous docking method for underwater reconfigurable robot

Sutantyo, Donny; Buntoro, David; Levi, Paul; Mintchev, Stefano; Stefanini, Cesare

doi:10.1109/tepra.2013.6556376

Cited by 4 publications

(2 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…When the robot enters in the attraction region generated by the magnet of the docking station, the robot is attracted and passively driven for a successful connection. Hence, this system is able to reduce both complexity and precision required by the docking control algorithms [16] and sensors. Indeed, part of the "computation and perception" required for guidance and alignment is passively performed by the magnetic interaction.…”

Section: Docking Systemmentioning

confidence: 99%

Mechatronic design of a miniature underwater robot for swarm operations

Mintchev

Donati

Marrazza

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Due to extreme and unpredictable conditions, oceanic missions are still a persistent challenge in robotics. With the aim of improving decision autonomy and robustness against unforeseen circumstances, the EU-funded CoCoRo project is developing a cognitive swarm of underwater robots. Swarm and cognition algorithms will be studied and validated with a large number of miniaturized and affordable AUVs, named Jeff, whose custom mechanical design is described in this paper. Jeff is conceived for high-mobility in 3D cluttered environments and has distributed sensors for multi-directional perception and communication. The propulsion and the buoyancy systems are designed with watertight and energetically efficient solutions to improve system reliability and energetic autonomy. The manuscript also describes the design of a docking system that allows Jeff to passively align and connect to a submerged docking station for battery charging.

show abstract

Section: Docking Systemmentioning

confidence: 99%

Mechatronic design of a miniature underwater robot for swarm operations

Mintchev

Donati

Marrazza

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

“…Therefore, acoustic sensors are usually used for navigation, especially the ultra-short baseline (USBL) acoustic positioning device [10,11]. When the AUV starts terminal docking, it needs high navigation accuracy and a high frequency of positioning so that optical navigation [12], visual navigation [13], and electromagnetic navigation [8] can be adopted. However, optical and visual methods can only be applied in water with high quality and a simple background.…”

Section: Introductionmentioning

confidence: 99%

Underwater Electromagnetic Guidance Based on the Magnetic Dipole Model Applied in AUV Terminal Docking

Lin

Zhao

et al. 2022

JMSE

View full text Add to dashboard Cite

To address the poor effect of optical/visual guidance used in AUV terminal docking with strong background light and turbid water quality, an underwater electromagnetic guidance method based on the magnetic dipole model is proposed in this paper. According to the magnetic dipole model, the electromagnetic field of 1 kHz frequency generated by the coil in the range of terminal docking is the near field, where the position can be figured out through the amplitude and phase information of three orthogonal magnetic field intensity vectors. A triaxial-coil magnetometer with three orthogonal coils and a method for extracting the amplitude and phase information of the induced voltage are presented in this paper. According to Faraday’s law, the amplitude and phase information of the induced voltage of a triaxial-coil magnetometer replace the information of magnetic field intensity in relation to positioning. The underwater positioning results show that the average positioning error within 6 m can reach the centimeter level. Five underwater terminal docking tasks were carried out, and four of them were successfully completed, which verified the feasibility of the proposed method.

show abstract