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.