Method and device for docking control of underwater vehicles based on imaging sonar
US12409917B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 11, 2025 |
| Grant date | Sep 9, 2025 |
| Priority date | — |
| Expiry date | Mar 11, 2045 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB63G2008/008
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method and device for docking control of an underwater vehicle based on sonar imaging, belonging to the field of vehicle automatic control technology. Decomposes docking control of the underwater vehicle into depth tracking control and horizontal plane docking control, designs corresponding reinforcement learning cost functions to train deep network-based depth tracking controller and servo docking controller, designs nonlinear weight to balance position error and field of view in the cost function, and uses reinforcement learning to make the controller learn optimized control strategy, quickly eliminate position error and maintain recovery device features in the imaging sonar field of view. The device may effectively avoid docking failure caused by loss of target features and improve docking success rate.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.