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Sparus Docking Station: A Current Aware Docking Station For a Non-holonomic AUV
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  • Joan Esteba,
  • Patryk Cieslak,
  • Narcís Palomeras,
  • Pere Ridao
Joan Esteba
Universitat de Girona Parc Cientific i Tecnologic

Corresponding Author:[email protected]

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Patryk Cieslak
Universitat de Girona Parc Cientific i Tecnologic
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Narcís Palomeras
Universitat de Girona Parc Cientific i Tecnologic
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Pere Ridao
Universitat de Girona Parc Cientific i Tecnologic
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Abstract

This paper presents the design and development of a funnel-shaped Sparus Docking Station (SDS) intended for the non-holonomic torpedo-shaped Sparus II Autonomous Underwater Vehicles (AUV). The SDS is equipped with sensors and batteries, allowing for a stand-alone long-term deployment of the AUV. An inverted Ultra Short BaseLine (USBL) system is used to locate the Docking Station (DS) as well as to provide long-term drift-less AUV navigation. The SDS is able to observe the ocean currents using a Doppler Velocity Log (DVL), being motorized to allow its self-alignment with the current. Moreover, a docking algorithm accounting for the current is used to guide the robot during the docking maneuver. The paper reports experimental results of the docking maneuver in sea trials.
10 May 2023Submitted to Journal of Field Robotics
10 May 2023Submission Checks Completed
10 May 2023Assigned to Editor
16 May 2023Review(s) Completed, Editorial Evaluation Pending
18 May 2023Reviewer(s) Assigned
25 Jul 2023Editorial Decision: Revise Major
30 Oct 20231st Revision Received
30 Oct 2023Submission Checks Completed
30 Oct 2023Assigned to Editor
30 Oct 2023Review(s) Completed, Editorial Evaluation Pending
31 Oct 2023Reviewer(s) Assigned