Agent based localization method for underwater docking

This paper addresses an agent and high resolution image sonar based underwater vehicle's localization method for underwater docking. A novel concept of AUV docking system is proposed. The agent and the support AUV are connected with a tether. For sensing, the agent uses the optical camera and the AUV uses the image sonar. For the agent's localization, the AUV's image sonar guides the agent, wide range with low precision and high reliability. The agent's optical camera guides itself precisely in narrow range. This cooperation enables reliable and accurate localization of the agent. For the feasibility test, a prototype agent and acoustic landmark were fabricated and experiments were carried out.