Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station

This paper presents a novel algorithm to dock a non-holonomic Autonomous Underwater Vehicle (AUV) into a funnel-shaped Docking Station (DS), in the presence of ocean currents. In a previous work, the authors have compared several docking algorithms through Monte Carlo simulations. In this paper, a n...

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Detalles Bibliográficos
Autores principales: Esteba, Joan, Cieślak, Patryk, Palomeras, Narcís, Ridao, Pere
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9824580/
https://www.ncbi.nlm.nih.gov/pubmed/36616839
http://dx.doi.org/10.3390/s23010241
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author Esteba, Joan
Cieślak, Patryk
Palomeras, Narcís
Ridao, Pere
author_facet Esteba, Joan
Cieślak, Patryk
Palomeras, Narcís
Ridao, Pere
author_sort Esteba, Joan
collection PubMed
description This paper presents a novel algorithm to dock a non-holonomic Autonomous Underwater Vehicle (AUV) into a funnel-shaped Docking Station (DS), in the presence of ocean currents. In a previous work, the authors have compared several docking algorithms through Monte Carlo simulations. In this paper, a new control algorithm is presented with a goal to improve over the previous ones to fulfil the specific needs of the ATLANTIS project. Performance of the new proposed algorithm has been compared with the results of the previous study, using the same environemnt on the Stonefish hardware-in-the-loop simulator.
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spelling pubmed-98245802023-01-08 Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station Esteba, Joan Cieślak, Patryk Palomeras, Narcís Ridao, Pere Sensors (Basel) Article This paper presents a novel algorithm to dock a non-holonomic Autonomous Underwater Vehicle (AUV) into a funnel-shaped Docking Station (DS), in the presence of ocean currents. In a previous work, the authors have compared several docking algorithms through Monte Carlo simulations. In this paper, a new control algorithm is presented with a goal to improve over the previous ones to fulfil the specific needs of the ATLANTIS project. Performance of the new proposed algorithm has been compared with the results of the previous study, using the same environemnt on the Stonefish hardware-in-the-loop simulator. MDPI 2022-12-26 /pmc/articles/PMC9824580/ /pubmed/36616839 http://dx.doi.org/10.3390/s23010241 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Esteba, Joan
Cieślak, Patryk
Palomeras, Narcís
Ridao, Pere
Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station
title Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station
title_full Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station
title_fullStr Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station
title_full_unstemmed Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station
title_short Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station
title_sort managed surge controller: a docking algorithm for a non-holonomic auv (sparus ii) in the presence of ocean currents for a funnel-shaped docking station
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9824580/
https://www.ncbi.nlm.nih.gov/pubmed/36616839
http://dx.doi.org/10.3390/s23010241
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