Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM
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 sen...
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ftchacadsciensia:oai:ir.sia.cn/:173321/29829 2023-05-15T14:22:05+02:00 Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM Dong, Lingyan Xu, Hongli Feng, Xisheng Li, Ning 2021-10-01 http://ir.sia.cn/handle/173321/29829 https://doi.org/10.1115/1.4049325 英语 eng ASME JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING-TRANSACTIONS OF THE ASME http://ir.sia.cn/handle/173321/29829 doi:10.1115/1.4049325 sub-sea technology Engineering Ocean Mechanical DOCKING 期刊论文 2021 ftchacadsciensia https://doi.org/10.1115/1.4049325 2021-11-05T01:05:54Z 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. Report Arctic Shenyang Institute Of Automation ,Chinese Academy Of Sciences: SIA OpenIR Journal of Offshore Mechanics and Arctic Engineering 143 5 |
institution |
Open Polar |
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Shenyang Institute Of Automation ,Chinese Academy Of Sciences: SIA OpenIR |
op_collection_id |
ftchacadsciensia |
language |
English |
topic |
sub-sea technology Engineering Ocean Mechanical DOCKING |
spellingShingle |
sub-sea technology Engineering Ocean Mechanical DOCKING Dong, Lingyan Xu, Hongli Feng, Xisheng Li, Ning Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM |
topic_facet |
sub-sea technology Engineering Ocean Mechanical DOCKING |
description |
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. |
format |
Report |
author |
Dong, Lingyan Xu, Hongli Feng, Xisheng Li, Ning |
author_facet |
Dong, Lingyan Xu, Hongli Feng, Xisheng Li, Ning |
author_sort |
Dong, Lingyan |
title |
Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM |
title_short |
Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM |
title_full |
Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM |
title_fullStr |
Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM |
title_full_unstemmed |
Research on Autonomous Underwater Vehicle Homing Method Based on Fuzzy-Q-FastSLAM |
title_sort |
research on autonomous underwater vehicle homing method based on fuzzy-q-fastslam |
publisher |
ASME |
publishDate |
2021 |
url |
http://ir.sia.cn/handle/173321/29829 https://doi.org/10.1115/1.4049325 |
genre |
Arctic |
genre_facet |
Arctic |
op_relation |
JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING-TRANSACTIONS OF THE ASME http://ir.sia.cn/handle/173321/29829 doi:10.1115/1.4049325 |
op_doi |
https://doi.org/10.1115/1.4049325 |
container_title |
Journal of Offshore Mechanics and Arctic Engineering |
container_volume |
143 |
container_issue |
5 |
_version_ |
1766294751389155328 |