AUV Docking on a Moving Submarine Using a K-R Navigation Function

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

Sujit, PB (Author) Other; Healey, AJ (Author) Other; João Tasso Sousa (Author) FEUP

Conference proceedings International

Title: 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS

Pages: 3154-3159

IEEE/RSJ International Conference on Intelligent Robots and Systems

San Francisco, CA, SEP 25-30, 2011

Indexing

ISI Web of Knowledge - 5 Citations

Scopus - 13 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Authenticus ID: P-002-ZXV

DOI: 10.1109/iros.2011.6048198

Abstract (EN): In this paper, we present a navigation function based approach for docking onto a moving submarine. Docking of a AUV is a difficult problem due to currents and the presence of no fly zones around the submarine. The navigation function approach provides an integration of no-fly zones into the controller and determines the desired heading taking the kinematic constraints of the AUV into account. Simulations are presented to validate the navigation functions based docking solution.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6