Work

Design of an AUV Visual Docking Localization Simulation Platform Based on Webots

Year: 2026

Type: article

Abstract: To meet the design and evaluation requirements of underwater vision-based docking localization, a Webots-based simulation platform for Autonomous Underwater Vehicle (AUV) visual docking localization was designed and implemented to address the high cost of real sea trials, uncontrollable operating conditions, and the difficulty of systematically covering extreme scenarios. An end-to-end simulation of the docking localization pipeline was provided. Visual components—including fiducial markers, underwater illumination and imaging, and occlusion—were modeled in relatively fine detail, while non-vision-dominant factors such as propulsion and hydrodynamics were treated with approximate models to balance visual realism and simulation efficiency. The platform supported multiple types of visual markers, parameterized configuration of underwater lighting and turbidity, and the generation of diverse occlusion scenarios, enabling unified integration and benchmarking of docking localization algorithms. The results showed that the platform offered tunable scene parameters, repeatable conditions, and broad algorithm compatibility, and it effectively revealed performance differences across algorithms for complex combinations of illumination, turbidity, and occlusion. These capabilities reduced the risk and cost of real underwater docking experiments and supported faster iterative improvement of vision-based localization methods.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse14040374

Authors: Runfa Xing, Lichuan Zhang, Guangyao Han, Lu Liu

Institution: Northwestern Polytechnical University

Language: English

Topic: Underwater Vehicles and Communication Systems

Subfield: Ocean Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: National Key Research and Development Program of China