Design of A Self-Correctable Docking Mechanism in Disturbed Water Surface Environment

• Published in: IEEE robotics and automation letters Vol. 9; no. 11; pp. 9773 - 9780
• Main Authors: Cao, Zhongzhong, Zhang, Lianxin, Xu, Ruoyu, Liu, Chongfeng, Lin, Bairun, Ji, Xiaoqiang, Qian, Huihuan
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.11.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aquatic environment; Autonomous vehicles; Data acquisition; Data communication; Data transmission; Docking; Docking mechanism; fixed angle; Latches; passive latch; Pontoons; Projectiles; self-correction; Shock absorbers; Springs; Surface treatment; surface unmanned vehicle; Surface vehicles; Underactuated surface vessels; Unmanned vehicles
• ISSN: 2377-3766; 2377-3766
• DOI: 10.1109/LRA.2023.3244121

The docking mechanism is critical for unmanned surface vehicle (USV) applications, such as traction, dragging, charging, data transmission, building pontoons, etc. These applications are significant for observation, exploration, data acquisition, patrol, rescuing, etc., in aquatic environments. In t...