Abstract
The technological operation of AUV docking is considered. An approach to its solution and modeling is proposed. A system for determining the relative position based on cameras and active-light markers is described. Active markers are offered to improve detection in dark deep water. A system of equations for modeling the dynamics of an underwater vehicle is described and a complete mathematical modeling of the whole pipeline of the positioning system is performed: image synthesis based on scene geometry, position determination based on the solution of the PnP problem, generating control based on synthesized measurements and modelling of the corresponding movement of the AUV. The presented model can be used to test various scenarios for the execution of a docking operation.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
