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Sensors and Materials, Volume 31, Number 12(3) (2019)
Copyright(C) MYU K.K.
pp. 4223-4230
S&M2080 Research Paper of Special Issue
Published: December 26, 2019

Concept of Autonomous Underwater Vehicle Docking Using 3D Imaging Sonar [PDF]

Hiroshi Uchihori, Ikuo Yamamoto, and Akihiro Morinaga

(Received July 1, 2019; Accepted September 10, 2019)

Keywords: AUV, ROV, underwater docking, 3D imaging sonar

In this paper, we propose the concept of underwater docking of an autonomous underwater vehicle (AUV) for power supply and data transfer to conduct the continuous operation of the AUV without launch and recovery operations. Our basic concept of docking involves the use of a 3D imaging sonar as the autonomous homing sensor for AUV and a remotely operated vehicle (ROV) as the docking station, which has maneuverability to compensate for the homing error of the AUV. On the basis of this concept, we use a 3D imaging sonar as a homing sensor during docking. The 3D imaging sonar has a potential for advanced AUV operation and will be the versatile “eye” of the AUV.

Corresponding author: Hiroshi Uchihori

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Cite this article
Hiroshi Uchihori, Ikuo Yamamoto, and Akihiro Morinaga, Concept of Autonomous Underwater Vehicle Docking Using 3D Imaging Sonar, Sens. Mater., Vol. 31, No. 12, 2019, p. 4223-4230.

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