The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 09, 2025
Filed:
Mar. 11, 2025
Huazhong University of Science and Technology, Hubei, CN;
Xianbo Xiang, Hubei, CN;
Zhao Wang, Hubei, CN;
Shaolong Yang, Hubei, CN;
Gong Xiang, Hubei, CN;
Yan Wang, Hubei, CN;
HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY, Hubei, CN;
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.