2026-04-13T00:04:16Zhttps://recercat.cat/oai/requestoai:recercat.cat:10256/224732024-05-22T09:51:04Zcom_2072_452955com_2072_2054col_2072_452957
2024-05-22T09:51:04Z
urn:hdl:10256/22473
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
Cieśląk, Patryk
Palomeras Rovira, Narcís
Ridao Rodríguez, Pere
Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Algorismes computacionals
Computer algorithms
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
This 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 871571
2024-05-22T09:51:04Z
2024-05-22T09:51:04Z
2022-12-26
info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
peer-reviewed
http://hdl.handle.net/10256/22473
info:eu-repo/semantics/altIdentifier/doi/10.3390/s23010241
info:eu-repo/semantics/altIdentifier/eissn/1424-8220
info:eu-repo/grantAgreement/EC/H2020/871571/EU/The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures/ATLANTIS
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
info:eu-repo/semantics/openAccess
MDPI (Multidisciplinary Digital Publishing Institute)
Sensors, 2023, vol. 23, núm. 1, p. 241
Articles publicats (D-ATC)