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: Esteba Masjuan, Joan, Cieśląk, Patryk, Palomeras Rovira, Narcís, Ridao Rodríguez, Pere
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2022
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/22473
Acceso en línea:http://hdl.handle.net/10256/22473
Access Level:acceso abierto
Palabra clave:Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Algorismes computacionals
Computer algorithms
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spelling Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking StationEsteba Masjuan, JoanCieśląk, PatrykPalomeras Rovira, NarcísRidao Rodríguez, PereVehicles submergiblesSubmersiblesRobots autònomsAutonomous robotsAlgorismes computacionalsComputer algorithmsThis 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 simulatorThis work has been developed in the context of the ATLANTIS “The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures” project. Founded from the European Union’s Horizon 2020 research and innovation programme, under the Grant Agreement number 871571MDPI (Multidisciplinary Digital Publishing Institute)European Commission2022info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionpeer-reviewedapplication/pdfhttp://hdl.handle.net/10256/22473http://hdl.handle.net/10256/22473Sensors, 2023, vol. 23, núm. 1, p. 241Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.3390/s23010241info:eu-repo/semantics/altIdentifier/eissn/1424-8220info:eu-repo/grantAgreement/EC/H2020/871571Attribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:recercat.cat:10256/224732026-05-29T05:05:01Z
dc.title.none.fl_str_mv 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
spellingShingle 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 Masjuan, Joan
Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Algorismes computacionals
Computer algorithms
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_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_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
dc.creator.none.fl_str_mv Esteba Masjuan, Joan
Cieśląk, Patryk
Palomeras Rovira, Narcís
Ridao Rodríguez, Pere
author Esteba Masjuan, Joan
author_facet Esteba Masjuan, Joan
Cieśląk, Patryk
Palomeras Rovira, Narcís
Ridao Rodríguez, Pere
author_role author
author2 Cieśląk, Patryk
Palomeras Rovira, Narcís
Ridao Rodríguez, Pere
author2_role author
author
author
dc.contributor.none.fl_str_mv European Commission
dc.subject.none.fl_str_mv Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Algorismes computacionals
Computer algorithms
topic Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Algorismes computacionals
Computer algorithms
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
publishDate 2022
dc.date.none.fl_str_mv 2022
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
peer-reviewed
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/22473
http://hdl.handle.net/10256/22473
url http://hdl.handle.net/10256/22473
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.3390/s23010241
info:eu-repo/semantics/altIdentifier/eissn/1424-8220
info:eu-repo/grantAgreement/EC/H2020/871571
dc.rights.none.fl_str_mv Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI (Multidisciplinary Digital Publishing Institute)
publisher.none.fl_str_mv MDPI (Multidisciplinary Digital Publishing Institute)
dc.source.none.fl_str_mv Sensors, 2023, vol. 23, núm. 1, p. 241
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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