Successful repeated docking under fluctuating current disturbances in real Sea

Takuya Monden, Kohei Yamashita, Yoshiki Kanda, Horng Yi Hsu, Yuichiro Toda, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution


To extend the persistence time of an underwater operation of Autonomous Underwater Vehicles(AUVs) in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. In the previous studies, the repeated sea docking using a Remotely Operated Vehicle(ROV) was succeeded. However, during the experiment in the sea, ROV sometimes failed the docking due to the ocean current disturbance since ROV is hard to correct large error of orientation around z-axis. Therefore, we develop an autonomous rotary station that defects the ocean current direction for correcting the error between the ocean current direction and the docking direction. This paper presents the details of an autonomous rotary station and the analysis of the repeated sea docking experimental result.

Original languageEnglish
Title of host publicationOCEANS 2019 MTS/IEEE Seattle, OCEANS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9780578576183
Publication statusPublished - Oct 2019
Event2019 OCEANS MTS/IEEE Seattle, OCEANS 2019 - Seattle, United States
Duration: Oct 27 2019Oct 31 2019

Publication series

NameOCEANS 2019 MTS/IEEE Seattle, OCEANS 2019


Conference2019 OCEANS MTS/IEEE Seattle, OCEANS 2019
Country/TerritoryUnited States


  • Autonomous rotary station
  • Docking
  • Error
  • Ocean current

ASJC Scopus subject areas

  • Automotive Engineering
  • Ocean Engineering
  • Acoustics and Ultrasonics
  • Fluid Flow and Transfer Processes
  • Oceanography


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