Docking Control System for a 21” Diameter Auv
نویسندگان
چکیده
The Monterey Bay Aquarium Research Institute (MBARI) has developed a 21-inch (54 cm) diameter docking AUV and companion docking station. This program resulted in four consecutive successful autonomous homing and docking events in the open ocean, which included downloading data, uploading a new mission plan, recharging the battery, and complete power cycling of the AUV. We describe the design, simulation, and at-sea test of the homing and docking control system.
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