Design of A Self-Correctable Docking Mechanism in Disturbed Water Surface Environment
Zhongzhong Cao, Lianxin Zhang, Ruoyu Xu, Chongfeng Liu, Bairun Lin, Xiaoqiang Ji, Huihuan Qian
Abstract
The docking mechanism is critical for unmanned surface vehicle (USV) applications, such as traction, dragging, charging, data transmission, building pontoons, etc. These applications are significant for observation, exploration, data acquisition, patrol, rescuing, etc., in aquatic environments. In this paper, a novel autonomous docking mechanism for USVs is proposed. It is capable of (1) docking the USV subject to disturbance efficiently, (2) latching without power consumption after the docking is completed, and (3) guiding the docking head to three specific angles at the end of the docking process. This paper proved the feasibility and rationality of the docking mechanism through theoretical force analysis. Experiments with three different scenarios are implemented to test the mechanism's performance. The experimental results show that the docking success rate is greater than or equal to 90 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\%$</tex-math></inline-formula> on the disturbed water surface.
BibTeX
@inproceedings{ral2024_designofaselfcor,
title = {Design of A Self-Correctable Docking Mechanism in Disturbed Water Surface Environment},
author = {Zhongzhong Cao and Lianxin Zhang and Ruoyu Xu and Chongfeng Liu and Bairun Lin and Xiaoqiang Ji and Huihuan Qian},
booktitle = {RA-L 2024},
year = {2024}
}