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Related Experiment Video

Updated: Jan 13, 2026

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

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Robust Underwater Docking Visual Guidance and Positioning Method Based on a Cage-Type Dual-Layer Guiding Light Array.

Ziyue Wang^1,2, Xingqun Zhou^1,3, Yi Yang¹

¹State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.

Sensors (Basel, Switzerland)

|October 29, 2025

Summary

This study introduces a novel dual-layer guiding light array for autonomous underwater vehicle (AUV) docking. This system ensures reliable visual localization and continuous guidance for AUV recovery, even with limited camera views.

Keywords:

AUV docking AUV recovery dual-layer light array optical guidance visual positioning

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Area of Science:

Robotics
Computer Vision
Marine Engineering

Background:

Autonomous Underwater Vehicles (AUVs) require precise localization for docking.
Limited camera fields of view cause guiding beacons to be lost during AUV approach.
Existing methods struggle with intermittent beacon visibility and varying appearances.

Purpose of the Study:

To develop a robust visual localization method for AUV docking.
To overcome challenges of beacon visibility loss and intermittent data.
To enable continuous visual guidance for autonomous AUV recovery.

Main Methods:

A cage-type, dual-layer guiding light array system is proposed.
A dual-layer light array localization algorithm dynamically distinguishes between front and rear arrays.
Particle Swarm Optimization (PSO) and Backtracking Extended Kalman Filter (BTEKF) are used for tag matching and error correction.

Main Results:

Achieved high matching success rates (90.3% with 3 missing lights, 99.6% with 2 spurious beacons).
Error correction with BTEKF improved success rate to 99.9%.
Demonstrated stable and robust tag matching with an average detection time of 0.112 s.

Conclusions:

The proposed dual-layer guiding light array system provides reliable visual guidance for AUV docking.
The method ensures continuous localization and robust tag matching under challenging conditions.
Enables stable and continuous visual guidance-based docking for autonomous AUV recovery.