학술논문
Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish
Document Type
Periodical
Source
IEEE Transactions on Industrial Electronics IEEE Trans. Ind. Electron. Industrial Electronics, IEEE Transactions on. 70(7):7023-7031 Jul, 2023
Subject
Language
ISSN
0278-0046
1557-9948
1557-9948
Abstract
Underwater energy supplements for autonom- ous underwater vehicles (AUVs) are significant for ocean exploitation owing to energy storage and data communication limitations. Aiming at the energy supplement for bionic robotic fish, an autonomous recharging-oriented docking approach is proposed in this article. First, an omnidirectional docking system containing a supporting robotic fish capable of visual recognition and wireless charging and a docking platform is presented. Next, five locomotive modes are designed and analyzed based on the hybrid swimming and gliding patterns for the robot fish. Utilizing the five modes, a docking procedure is planned, and an onboard-visual-based autonomous docking control strategy is presented. Aquatic experiments, including docking with the platform and refloating a small robot, are performed to verify the effectiveness of the proposed approach. The obtained results offer valuable insights into the development of autonomous docking of bionic robots, laying a solid foundation for the permanent operation of various underwater devices and robots.