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Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM
Dong LY(董凌艳)1,2,3; Xu HL(徐红丽)1,2; Feng XS(封锡盛)1,2; Li N(李宁)1,2
Department海洋信息技术装备中心
Source PublicationJournal of Offshore Mechanics and Arctic Engineering
ISSN0892-7219
2021
Volume143Issue:5Pages:1-9
Indexed ByEI
EI Accession number20210409817024
Contribution Rank1
Funding OrganizationJoint fund for equipment preresearch of the Chinese academy of sciences (Grant No. 6141A01060101) ; “x AUV long-term resident technology” project of national defense science and technology innovation special zone (Grant No.18-H863-00-TS-002-034-01)
Keywordsub-sea technology
Abstract

Autonomous docking guidance is one of the key technologies to achieve the autonomous underwater vehicle (AUV) docking with the sub-sea docking station (DS) to realize long-term resident operation. In the process of AUV docking, the combination of long-distance acoustic guidance based on acoustic sensor and terminal visual guidance based on camera is often adopted. However, affected by the accuracy of the navigation sensor and acoustic positioning sensor carried by AUV, as well as the ocean current, AUV cannot accurately know its own position and the position of the DS, resulting in a large acoustic guidance error and the inability to enter the visual guidance stage with a reasonable deviation, thus leading to the docking failure. In this article, an improved FastSLAM algorithm is proposed to estimate the position of AUV and DS simultaneously. The positioning accuracy of traditional FastSLAM algorithm is affected by such factors as the estimation accuracy of the statistical characteristics of process noise. An improved algorithm for FastSLAM based on fuzzy Q-learning is proposed. The homing path is planned based on the Dubins theory. The path is tracked by line-of-sight guidance. The results of matlab simulation and experimental data analyzing of the portable AUV are applied to verify the effectiveness of the proposed algorithm.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/28309
Collection海洋信息技术装备中心
Corresponding AuthorDong LY(董凌艳)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Science, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Dong LY,Xu HL,Feng XS,et al. Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM[J]. Journal of Offshore Mechanics and Arctic Engineering,2021,143(5):1-9.
APA Dong LY,Xu HL,Feng XS,&Li N.(2021).Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM.Journal of Offshore Mechanics and Arctic Engineering,143(5),1-9.
MLA Dong LY,et al."Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM".Journal of Offshore Mechanics and Arctic Engineering 143.5(2021):1-9.
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