The Development and Ocean Testing of an AUV Docking Station for a 21" AUV

Hobson, Brett; McEwen, R.; Erickson, J.; Hoover, Thomas; McBride, L.; Shane, F.; Bellingham, James

doi:10.1109/oceans.2007.4449318

Cited by 64 publications

(39 citation statements)

References 7 publications

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“…Hobson et al (2007) provides a short summary of previous work on docking stations for AUVs, and discusses the development and testing of a sub-sea docking station, which may be more relevant for ice-monitoring. The docking station provides inductive power transfer, and wireless data transfer -limiting the need for maintenance demanding moving parts.…”

Section: Docking Stationsmentioning

confidence: 99%

Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring

Norgren¹,

Skjetne

2014

MIC

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Due to the receding sea-ice extent in the Arctic, and the potentially large undiscovered petroleum resources present north of the Arctic circle, offshore activities in ice-infested waters are increasing. Due to the presence of drifting sea-ice and icebergs, ice management (IM) becomes an important part of the offshore operation, and an important part of an IM system is the ability to reliably monitor the ice conditions. An autonomous underwater vehicle (AUV) has a unique capability of high underwater spatial and temporal coverage, making it suitable for monitoring applications. Since the first Arctic AUV deployment in 1972, AUV technology has matured and has been used in complex under-ice operations. This paper motivates the use of AUVs as an ice-monitoring sensor platform. It discusses relevant sensor capabilities and challenges related to communication and navigation. This paper also presents experiences from a field campaign that took place in Ny-Ålesund at Svalbard in January 2014, where a REMUS 100 AUV was used for sea-floor mapping and collection of oceanographic parameters. Based on this, we discuss the experiences related to using AUVs for ice-monitoring. We conclude that AUVs are highly applicable for ice-monitoring, but further research is needed.

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Section: Docking Stationsmentioning

confidence: 99%

Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring

Norgren¹,

Skjetne

2014

MIC

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“…Used in [17] and [18] High but only in limited directions Medium; the system is less complicated than Va but also sensitive to similar factors. Also, it requires a powered docking station Target has to be in line-of-sight.…”

Section: Goodmentioning

confidence: 99%

Investigation of autonomous docking strategies for robotic operation on intervention panels

et al. 2008

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This paper presents a localization strategy for an AUV which autonomously docks on intervention panels. A brief review of past research and working solutions of docking motivates the proposed choice of the strategy. It combines a ranging sonar localization technique featuring a modified particle filter at large distance and a visual model-based pose estimation using on-board camera at close distance to the docking panel. The particle filter solution is enhanced for effective exploration of the vehicle states without increasing the computational demand. It operates in an environment with a known map and has a real-time performance. The pose recognition algorithm derives from POSIT and is optimized for robustness. The visual docking utilizes a set of point-light markers which guarantees good accuracy at a large range of angles. Mentioned strategies are proven in a number of simulations as well as practical tests.978-1-4244-2620-1/08/$25.00 ©2008 IEEE

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“…Within manned systems, there are numerous examples of the USV/UUV concept such as aircraft carriers and their respective aircraft, garbage trucks and accompanying garbage workers, or mail delivery and their respective postmen. While this form of close interaction between unmanned systems is still far from common, the underlying hardware and guidance infrastructure to allow autonomous docking and deployment between unmanned systems is actively researched [4,5,6,7,8]. We present a high-level planner that takes the lower-level vehicle tasks required to complete a typical MCM survey mission and sequences them in a near-optimal manner to minimize MCM objective functions such as mission time while accomplishing MCM mission objectives.…”

Section: Introductionmentioning

confidence: 99%

Optimized Waterspace Management and Scheduling Using Mixed-Integer Linear Programming

Bays¹,

Wettergren²

2016

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The Development and Ocean Testing of an AUV Docking Station for a 21" AUV

Cited by 64 publications

References 7 publications

Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring

Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring

Investigation of autonomous docking strategies for robotic operation on intervention panels

Optimized Waterspace Management and Scheduling Using Mixed-Integer Linear Programming

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