Autonomous docking of hovering type AUV to seafloor charging station based on acoustic and visual sensing

  title={Autonomous docking of hovering type AUV to seafloor charging station based on acoustic and visual sensing},
  author={Yoshiki Sato and Toshihiro Maki and Kotohiro Masuda and Takumi Matsuda and Takashi Sakamaki},
  journal={2017 IEEE Underwater Technology (UT)},
Autonomous underwater vehicles (AUVs) have advantage that they do not require tether cables or human control. AUVs have recently been used for seafloor observation. However, AUVs have limitation of their batteries. AUVs must be recovered before they have run out of batteries. In order to charge batteries of AUVs, underwater charging systems have attracted a lot of attention. We have developed the seafloor charging station for hovering type AUVs. In the proposed system, AUVs dock to the seafloor… CONTINUE READING


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