Autonomous docking system for UUV based on cooperative guidance of multiple markers: Design and experiment

• Published in: Ocean engineering 2024-12, Vol.313, p.119506, Article 119506
• Main Authors: Qu, Junqi, Xie, Jirong, Su, Tao, Li, Xinguang, Zhang, Jun, Sun, Qi, Jiao, Huifeng
• Format: Article
• Language: English
• Subjects: Autonomous docking; Error constraint function; Multiple markers; OPC UA; UUV
• ISSN: 0029-8018
• DOI: 10.1016/j.oceaneng.2024.119506

To address the challenges of blind drilling, complex background interference, and low control accuracy in the autonomous docking process of unmanned underwater vehicles (UUVs) in dark environments, this paper proposes an autonomous docking system based on cooperative guidance of multiple markers. The system takes the overall docking scheme as a traction, investigates the recognition and positioning algorithm and docking control strategy under this scheme, and realizes the system integration based on a portable communication architecture. In terms of the docking overall scheme, the innovative guidance method for multiple markers is designed to expand the guidance range and achieve stable docking throughout the entire process. In terms of recognition and positioning algorithm, the optical recognition and positioning strategy based on the region of interest (ROI) is proposed to effectively suppress complex background interference. In terms of docking control strategy, the pseudo-target autonomous removal strategy based on multi-source information is developed to address the issue of pseudo-target of guided lights. Furthermore, through actual measurement and analysis of the positioning characteristics of the markers, the autonomous docking controller based on spatial segmented error constraints is integrated to achieve stable docking under the condition with unstable input. In terms of communication architecture, the docking control system is developed based on the OPC UA communication architecture. Finally, experiments are conducted in the tank under various conditions to validate the effectiveness of the proposed autonomous docking control system. [Display omitted] •The cooperative guidance docking strategy based on multiple markers is proposed.•The optical recognition and positioning strategy based on ROI is proposed.•The docking controller based on spatial segmented error constraint is proposed.•The removal strategy of pseudo-targets based on multi-source information is proposed.•The communication architecture based on OPC UA is integrated into the control system.