Development of the AUV automatic docking methods based on echosounder and video data

摘要

Performance of some operations with the help of autonomous unmanned underwater vehicle (AUV) assumes availability of the network of underwater docking stations (UDS) on the seabed. Upon completion of a regular task the vehicle must dock with one of UDSs to communicate the information collected and to receive maintenance. Approaching to the station includes the phases of long-range and short-range transporting. This work deals with the second (precision) phase of AUV rendezvous with a docking station and the process of docking itself. The primary objective is to approach UDS from the desired direction and to provide a required mutual orientation of AUV and a docking unit. A television system of the robot is used for detection of the reference points leading into the dock, and an echo-sounding system - for local orientation inside the dock. The methods and means of docking applied are focused on utilization of AUV “Marine Technologist” normal equipment. The algorithms implemented in the information and control system of the vehicle for the docking process are described. The results of the full-scaled experiments are discussed.