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http://dx.doi.org/10.12673/jant.2021.25.3.177

Development of Probability-Based Assessment Index for Docking Process Assessment  

Chon, Seung-jae (Department of Control and Instrumentation Engineering, Graduate School, Korea Maritime and Ocean University (KMOU))
Kim, Joon-young (Department of Ocean Advanced Materials Convergence Engineering, KMOU)
Choi, Joong-lak (Research Institute of Industrial Technology, KMOU)
Jeong, Seong-hoon (Research Institute of Industrial Technology, KMOU)
Kim, Jong-hwa (Division of Control and Automation Engineering, KMOU)
Publication Information
Journal of Advanced Navigation Technology / v.25, no.3, 2021 , pp. 177-184 More about this Journal
Abstract
This paper proposes an assessment method using probability-based index for safe and successful underwater docking of autonomous underwater vehicles(AUVs) to the docking stations(DSs). The proposed method assesses the probability of docking according to the degree to which the state of the AUV is consistent with the state criteria for docking. The assessment is performed within a specific area considering the kinematic constraints and docking plans of the AUV. The assessment process is defining probability density function, calculating probabilities for reaching the docking station according to the difference to position and heading criteria, and computing the probability-based index in real-time. We verify the validity of the proposed method through analyzing the data acquired on operation test.
Keywords
Autonomous underwater vehicle; Docking process assessment; Docking station; Underwater docking;
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