Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV Operations
Autonomous Underwater Vehicles (AUVs) operate independently using onboard batteries and data storage, necessitating periodic recovery for battery recharging and data transfer. Traditional surface-based launch and recovery (L&R) operations pose significant risks to personnel and equipment, partic...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/14/1/5 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832587603308707840 |
|---|---|
| author | Yevgeni Gutnik Nir Zagdanski Sharon Farber Tali Treibitz Morel Groper |
| author_facet | Yevgeni Gutnik Nir Zagdanski Sharon Farber Tali Treibitz Morel Groper |
| author_sort | Yevgeni Gutnik |
| collection | DOAJ |
| description | Autonomous Underwater Vehicles (AUVs) operate independently using onboard batteries and data storage, necessitating periodic recovery for battery recharging and data transfer. Traditional surface-based launch and recovery (L&R) operations pose significant risks to personnel and equipment, particularly in adverse weather conditions. Subsurface docking stations provide a safer alternative but often involve complex fixed installations and costly acoustic positioning systems. This work introduces a comprehensive docking solution featuring the following two key innovations: (1) a novel deployable docking station (DDS) designed for rapid deployment from vessels of opportunity, operating without active acoustic transmitters; and (2) an innovative sensor fusion approach that combines the AUV’s onboard forward-looking sonar and camera data. The DDS comprises a semi-submersible protective frame and a subsurface, heave-compensated docking component equipped with backlit visual markers, an electromagnetic (EM) beacon, and an EM lifting device. This adaptable design is suitable for temporary installations and in acoustically sensitive or covert operations. The positioning and guidance system employs a multi-sensor approach, integrating range and azimuth data from the sonar with elevation data from the vision camera to achieve precise 3D positioning and robust navigation in varying underwater conditions. This paper details the design considerations and integration of the AUV system and the docking station, highlighting their innovative features. The proposed method was validated through software-in-the-loop simulations, controlled seawater pool experiments, and preliminary open-sea trials, including several docking attempts. While further sea trials are planned, current results demonstrate the potential of this solution to enhance AUV operational capabilities in challenging underwater environments while reducing deployment complexity and operational costs. |
| format | Article |
| id | doaj-art-dda80f8e25d143899bcbf91002b33462 |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-dda80f8e25d143899bcbf91002b334622025-01-24T13:48:23ZengMDPI AGRobotics2218-65812024-12-01141510.3390/robotics14010005Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV OperationsYevgeni Gutnik0Nir Zagdanski1Sharon Farber2Tali Treibitz3Morel Groper4The Hatter Department of Marine Technologies, Leon H. Charney School of Marine Sciences, University of Haifa, Haifa 3498838, IsraelThe Hatter Department of Marine Technologies, Leon H. Charney School of Marine Sciences, University of Haifa, Haifa 3498838, IsraelThe Hatter Department of Marine Technologies, Leon H. Charney School of Marine Sciences, University of Haifa, Haifa 3498838, IsraelThe Hatter Department of Marine Technologies, Leon H. Charney School of Marine Sciences, University of Haifa, Haifa 3498838, IsraelFaculty of Mechanical Engineering, Technion, Israel Institute of Technology, Haifa 3200003, IsraelAutonomous Underwater Vehicles (AUVs) operate independently using onboard batteries and data storage, necessitating periodic recovery for battery recharging and data transfer. Traditional surface-based launch and recovery (L&R) operations pose significant risks to personnel and equipment, particularly in adverse weather conditions. Subsurface docking stations provide a safer alternative but often involve complex fixed installations and costly acoustic positioning systems. This work introduces a comprehensive docking solution featuring the following two key innovations: (1) a novel deployable docking station (DDS) designed for rapid deployment from vessels of opportunity, operating without active acoustic transmitters; and (2) an innovative sensor fusion approach that combines the AUV’s onboard forward-looking sonar and camera data. The DDS comprises a semi-submersible protective frame and a subsurface, heave-compensated docking component equipped with backlit visual markers, an electromagnetic (EM) beacon, and an EM lifting device. This adaptable design is suitable for temporary installations and in acoustically sensitive or covert operations. The positioning and guidance system employs a multi-sensor approach, integrating range and azimuth data from the sonar with elevation data from the vision camera to achieve precise 3D positioning and robust navigation in varying underwater conditions. This paper details the design considerations and integration of the AUV system and the docking station, highlighting their innovative features. The proposed method was validated through software-in-the-loop simulations, controlled seawater pool experiments, and preliminary open-sea trials, including several docking attempts. While further sea trials are planned, current results demonstrate the potential of this solution to enhance AUV operational capabilities in challenging underwater environments while reducing deployment complexity and operational costs.https://www.mdpi.com/2218-6581/14/1/5launch and recovery system (LARS)autonomous underwater vehicle (AUV)sensor fusionforward-looking sonar (FLS)AUV docking |
| spellingShingle | Yevgeni Gutnik Nir Zagdanski Sharon Farber Tali Treibitz Morel Groper Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV Operations Robotics launch and recovery system (LARS) autonomous underwater vehicle (AUV) sensor fusion forward-looking sonar (FLS) AUV docking |
| title | Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV Operations |
| title_full | Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV Operations |
| title_fullStr | Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV Operations |
| title_full_unstemmed | Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV Operations |
| title_short | Navigating ALICE: Advancements in Deployable Docking and Precision Detection for AUV Operations |
| title_sort | navigating alice advancements in deployable docking and precision detection for auv operations |
| topic | launch and recovery system (LARS) autonomous underwater vehicle (AUV) sensor fusion forward-looking sonar (FLS) AUV docking |
| url | https://www.mdpi.com/2218-6581/14/1/5 |
| work_keys_str_mv | AT yevgenigutnik navigatingaliceadvancementsindeployabledockingandprecisiondetectionforauvoperations AT nirzagdanski navigatingaliceadvancementsindeployabledockingandprecisiondetectionforauvoperations AT sharonfarber navigatingaliceadvancementsindeployabledockingandprecisiondetectionforauvoperations AT talitreibitz navigatingaliceadvancementsindeployabledockingandprecisiondetectionforauvoperations AT morelgroper navigatingaliceadvancementsindeployabledockingandprecisiondetectionforauvoperations |