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In this paper, we propose a sonar-image-based underwater-hovering algorithm for autonomous underwater vehicles (AUVs). Unlike the conventional methods that apply vision-based algorithms, the proposed algorithm predicts the sonar image of the target position in advance, and then compares the sonar image of the current position of the AUV to the predicted sonar image in order to derive the current position...
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...
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