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Impact of current disturbances on AUV docking: model-based motion prediction and countering approaches
journal contribution
posted on 2023-05-19, 16:08 authored by Fan, S, Li, B, Xu, W, Xu, YUnderwater docking enables autonomous underwater vehicles (AUVs) to operate independently of a surface vessel for extended periods. To perform the docking mission, special attention has to be paid to the navigation, guidance, and control issues of the vehicle, especially under current disturbances. Based on a full dynamic model of an AUV in currents, this paper studies the influences of current disturbances on AUV docking motion. A comprehensive docking scheme is introduced, which combines Kalman filter type navigation, guidance with current compensation, and proportional-integral-derivative (PID) controllers for both cross-track and heading control, to ensure successful docking operations. To counter the current effects, the proposed guidance algorithm applies current estimation and attitude compensation for motion correction online; in addition, an upstream control strategy in the case of strong current is also discussed. The proposed algorithms are initially validated through model-based numerical simulations, which provide effective guidance for the succeeding docking experiments conducted in a current generating pool. The feasibility and effectiveness of the countering approaches for AUV docking under current disturbances are demonstrated during the pool trials.
History
Publication title
IEEE Journal of Oceanic EngineeringVolume
43Issue
4Article number
8166750Number
8166750Pagination
888-904ISSN
0364-9059Department/School
Australian Maritime CollegePublisher
Ieee-Inst Electrical Electronics Engineers IncPlace of publication
445 Hoes Lane, Piscataway, USA, Nj, 08855Rights statement
Copyright 2017 IEEERepository Status
- Restricted