Title :
Docking Control System for a 54-cm-Diameter (21-in) AUV
Author :
McEwen, Robert S. ; Hobson, Brett W. ; Mcbride, Lance ; Bellingham, James G.
Author_Institution :
Monterey Bay Aquarium Res. Inst., Monterey, CA
Abstract :
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.
Keywords :
mobile robots; remotely operated vehicles; underwater vehicles; at-sea test; autonomous homing; autonomous underwater vehicle; battery recharging; companion docking station; docking AUV; docking control system; mission plan; mobile robot; open ocean; power cycling; size 54 cm; sonar homing; Batteries; Control systems; Instruments; Marine vehicles; Observatories; Oceans; Sea floor; Sea surface; Testing; Underwater cables; Autonomous underwater vehicle; control system; docking; mobile robot; sonar homing;
Journal_Title :
Oceanic Engineering, IEEE Journal of
DOI :
10.1109/JOE.2008.2005348
