Abstract
Concept of Autonomous Underwater Vehicle Docking Using 3D Imaging Sonar
Highlights
Nowadays, a remotely operated vehicle (ROV) is used for many types of subsea operation by a human pilot on a surface ship through a tether cable
Launch and recovery, and power supply and data uploading on the surface ship need to be repeated for the continuous operation of the autonomous underwater vehicle (AUV)
The ROV waits at the planned position and scheduled docking time, and after the AUV reaches the docking area and its signals are captured by the ultra-short baseline (USBL), the surface ship sends waypoint commands to the AUV by underwater acoustic communication to form the appropriate approaching course and relative position between the AUV and the ROV docking station
Summary
A remotely operated vehicle (ROV) is used for many types of subsea operation by a human pilot on a surface ship through a tether cable. Battery technology has recently been improved, the battery power for such survey and mapping operations remains limited For this reason, launch and recovery, and power supply and data uploading on the surface ship need to be repeated for the continuous operation of the AUV. No signal sources for an AUV homing sensor, such as an acoustic transponder, an electromagnetic transceiver, or LED light, are necessary on the docking station because the 3D imaging sonar is an active sonar. In the future, this feature can lead to other applications that require approaching an arbitrary subsea object without a signal source
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