NDLI: Passive acoustic and optical guidance for underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Kondo, H. Okayama, K. Jin-Kyu Choi Hotta, T. Kondo, M. Okazaki, T. Singh, H. Zizhen Chao Nitadori, K. Igarashi, M. Fukuchi, T.
Copyright Year	2012
Description	Author affiliation: TOA CORPORATION, Kanagawa, Japan (Okayama, K.) \|\| SGK System Giken Co., Ltd., Kanagawa, Japan (Zizhen Chao; Nitadori, K.; Igarashi, M.; Fukuchi, T.) \|\| Woods Hole Oceanographic Institution Woods Hole, MA, USA (Kondo, H.) \|\| Woods Hole Oceanographic Institution, Woods Hole, MA, USA (Singh, H.) \|\| Tokyo University of Marine Science and Technology, Tokyo, Japan (Kondo, M.; Okazaki, T.) \|\| RYONICHI ENGINEERING CO., LTD., Kanagawa, Japan (Hotta, T.) \|\| Japan Agency for Marine-Earth Science and Technology, Kanagawa, Japan (Jin-Kyu Choi)
Abstract	Long term and intermittent monitoring of a certain area will be one of future uses of AUVs. Since AUVs have limited battery capacity, they need their batteries to be charged intermittently by docking to a charger station. In this scenario, AUVs need to have the capability to dock by themselves. Another case where docking capability will be useful is a submerged recovery by a support vessel. When AUVs are on the surface waiting to be recovered, waves and winds make the operation dangerous. AUVs might collide with a support vessel and be damaged. Thus, a docking cage that is hung from a crane of the support vessel and submerged to recover AUVs might be one of the solutions for safety. This paper proposes a docking method for hovering AUVs which usually have capabilities to move in surge, sway, heave and yaw motions. The proposed method uses both acoustic and optical systems to guide the vehicle. For far distances an acoustic positioning system is used to guide the vehicle. When the vehicle enters a certain area where the vehicle's camera can see the docking target, an optical camera positioning system is used to guide the vehicle into the docking cage. The proposed method has been implemented in a small hovering AUV and tested in a tank. In this paper, only the optical guidance system was tested using the vehicle, and the acoustic system was tested separately due to the vehicle's payload capacity. The vehicle switched its behavior automatically to aim the docking station and could enter the docking cage in several entry patterns.
Starting Page	1
Ending Page	6
File Size	1437317
Page Count	6
File Format	PDF
ISBN	9781457720895
e-ISBN	9781457720918
DOI	10.1109/OCEANS-Yeosu.2012.6263572
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-21
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Acoustics Light emitting diodes Cameras Arrays Transducers Optimized production technology optical AUV docking guidance acoustic
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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