Development of the Homing and Docking Algorithm for AUV

Young Hwa Hong; Jung Yup Kim; Pan Mook Lee; Bong Hwan Jeon; Kyu Hyun Oh; Jun Ho Oh

Development of the Homing and Docking Algorithm for AUV

Young Hwa Hong, Jung Yup Kim, Pan Mook Lee, Bong Hwan Jeon, Kyu Hyun Oh, Jun Ho Oh

Dept. of Mechanical System and Design Engineering

Research output: Contribution to conference › Paper › peer-review

20 Scopus citations

Abstract

Path generation algorithms for AUV's homing and docking are presented. Optimization technique with a proper cost function is given for the homing process, and prediction algorithm for 1^st stage-docking process. Dock position and pose estimation algorithm using geometric and perspective relationship of circle in 3-dimention space and ellipse in projected 2-D plane is introduced for real time vision tracking algorithm of 2^nd stage-docking process. Simulations using MATLAB program and experiments for dock position and pose estimation algorithm show that robust estimation algorithm can get practically exact pose and position of dock.

Original language	English
Pages	752-759
Number of pages	8
State	Published - 2003
Event	Proceedings of the Thirteenth (2003) International Offshore and Polar Engineering Conference - Honolulu, HI, United States Duration: 25 May 2002 → 30 May 2003

Conference

Conference	Proceedings of the Thirteenth (2003) International Offshore and Polar Engineering Conference
Country/Territory	United States
City	Honolulu, HI
Period	25/05/02 → 30/05/03

Keywords

AUV
Optimization
Path generation
Position and pose estimation
Prediction algorithm

Cite this

@conference{e3c893b3099f4a348cce59dbfcc39dcd,

title = "Development of the Homing and Docking Algorithm for AUV",

abstract = "Path generation algorithms for AUV's homing and docking are presented. Optimization technique with a proper cost function is given for the homing process, and prediction algorithm for 1st stage-docking process. Dock position and pose estimation algorithm using geometric and perspective relationship of circle in 3-dimention space and ellipse in projected 2-D plane is introduced for real time vision tracking algorithm of 2nd stage-docking process. Simulations using MATLAB program and experiments for dock position and pose estimation algorithm show that robust estimation algorithm can get practically exact pose and position of dock.",

keywords = "AUV, Optimization, Path generation, Position and pose estimation, Prediction algorithm",

author = "Hong, \{Young Hwa\} and Kim, \{Jung Yup\} and Lee, \{Pan Mook\} and Jeon, \{Bong Hwan\} and Oh, \{Kyu Hyun\} and Oh, \{Jun Ho\}",

year = "2003",

language = "English",

pages = "752--759",

note = "Proceedings of the Thirteenth (2003) International Offshore and Polar Engineering Conference ; Conference date: 25-05-2002 Through 30-05-2003",

}

TY - CONF

T1 - Development of the Homing and Docking Algorithm for AUV

AU - Hong, Young Hwa

AU - Kim, Jung Yup

AU - Lee, Pan Mook

AU - Jeon, Bong Hwan

AU - Oh, Kyu Hyun

AU - Oh, Jun Ho

PY - 2003

Y1 - 2003

N2 - Path generation algorithms for AUV's homing and docking are presented. Optimization technique with a proper cost function is given for the homing process, and prediction algorithm for 1st stage-docking process. Dock position and pose estimation algorithm using geometric and perspective relationship of circle in 3-dimention space and ellipse in projected 2-D plane is introduced for real time vision tracking algorithm of 2nd stage-docking process. Simulations using MATLAB program and experiments for dock position and pose estimation algorithm show that robust estimation algorithm can get practically exact pose and position of dock.

AB - Path generation algorithms for AUV's homing and docking are presented. Optimization technique with a proper cost function is given for the homing process, and prediction algorithm for 1st stage-docking process. Dock position and pose estimation algorithm using geometric and perspective relationship of circle in 3-dimention space and ellipse in projected 2-D plane is introduced for real time vision tracking algorithm of 2nd stage-docking process. Simulations using MATLAB program and experiments for dock position and pose estimation algorithm show that robust estimation algorithm can get practically exact pose and position of dock.

KW - AUV

KW - Optimization

KW - Path generation

KW - Position and pose estimation

KW - Prediction algorithm

UR - https://www.scopus.com/pages/publications/0942266638

M3 - Paper

AN - SCOPUS:0942266638

SP - 752

EP - 759

T2 - Proceedings of the Thirteenth (2003) International Offshore and Polar Engineering Conference

Y2 - 25 May 2002 through 30 May 2003

ER -

Development of the Homing and Docking Algorithm for AUV

Abstract

Conference

Keywords

Other files and links

Fingerprint

Cite this