Abstract
This paper proposes a method for long-term continuous deployment of a hovering type AUV based on autonomous docking to a seafloor charging station. The method consists of precise navigation method based on both acoustic and visual landmarks attached on the station. The AUV stochastically estimates its position and orientation with regard to the station and controls itself to land on the exact docking position of the station. The AUV Tri-TON 2 succeeded in autonomous docking to the testbed station in both a test tank and real sea. We had also charged the AUV during docking by our newly developed non-contact charging devices.
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