期刊
IEEE JOURNAL OF OCEANIC ENGINEERING
卷 33, 期 4, 页码 550-562出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JOE.2008.2005348
关键词
Autonomous underwater vehicle; docking; control system; mobile robot; sonar homing
资金
- National Science Foundation [NSF-OPP 9910290]
- David and Lucile Packard Foundation
The Monterey Bay Aquarium Research Institute (MBARI, Moss Landing, CA) has developed a 54-cm-diameter (21-in) docking AUV and companion docking station. This program resulted in four consecutive successful autonomous homing and docking events in the open ocean, which included downloading data, uploading a new mission plan, recharging the battery, and complete power cycling of the AUV. We describe the design, simulation, and at-sea test of the homing and docking control system.
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