Autonomous Underwater Vehicle Cruise Positioning and Docking Guidance Scheme

The Autonomous Underwater Vehicle (AUV) is capable of autonomously conducting underwater cruising tasks. When combined with docking operations, the AUV can replenish its electric power after long-distance travel, enabling it to achieve long-range autonomous monitoring. This paper proposes a position...

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Bibliographic Details
Published inJournal of marine science and engineering Vol. 12; no. 6; p. 1023
Main Authors Zhang, Zhuoyu, Ding, Wangjie, Wu, Rundong, Lin, Mingwei, Li, Dejun, Lin, Ri
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.06.2024
Subjects
Accuracy
Algorithms
autonomous underwater vehicle
Autonomous underwater vehicles
Cameras
Control algorithms
Data exchange
Docking
Doppler sonar
Electric power
Electric power sources
Global positioning systems
GPS
Light
Methods
Monocular vision
Noise threshold
Observatories
Ocean bottom
Remote submersibles
Segmentation
Sensors
Underwater vehicles
visual guidance
Visual thresholds
China
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Summary:The Autonomous Underwater Vehicle (AUV) is capable of autonomously conducting underwater cruising tasks. When combined with docking operations, the AUV can replenish its electric power after long-distance travel, enabling it to achieve long-range autonomous monitoring. This paper proposes a positioning method for the cruising and docking stages of AUVs. Firstly, a vision guidance algorithm based on monocular vision and threshold segmentation is studied to address the issue of regional noise that commonly occurs during underwater docking. A solution for regional noise based on threshold segmentation and proportional circle selection is proposed. Secondly, in order to enhance the positioning accuracy during the cruising stage, a fusion positioning algorithm based on particle filtering is presented, incorporating the Doppler Velocity Log (DVL) and GPS carried by the AUV. In simulation, this algorithm improves positioning accuracy by over 56.0% compared to using individual sensors alone. Finally, experiments for cruising and docking were conducted in Qingjiang, Hubei, China. The effectiveness of both methods is demonstrated, with successful docking achieved in four out of five attempts.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse12061023