Design of an Autonomous Latching System for Surface Vessels
David Fernández‐Gutiérrez, Niklas Hagemann, Wei Wang, Rens Doornbusch, Joshua Jordan, Jonathan Klein Schiphorst, Pietro Leoni, Fábio Duarte, Carlo Ratti, Daniela L. Rus · 2022 International Conference on Robotics and Automation (ICRA) · 2022
Autonomous latching is essential for autonomous surface vessels (ASV) to reach full independence from human intervention. As part of the ASV Roboat project, a new solution for self-latching maneuvers has been developed and is presented here. We propose a system that has the key requirements of full integration with the navigation control system and zero-gap connection with the dock, the latter being essential for wireless charging of the ASV. Dedicated markers are used to identify docking targets, relying on computer vision algorithms to determine distance and bearing to the target. In its idle state, the locking solution uses mechanical power-off brakes, minimizing energy consumption while ensuring the boat stays in position indefinitely once docked. A prototype of the proposed mechanism has been built and installed in Roboat. Experimental tests showing the mechanism performance and capability to autonomously approach the docking station are discussed in this work.