Dynamic Docking Technology between AUV and Mobile Mothership

Abstract

Limited by volume and mass, autonomous underwater vehicle (AUV) carries limited energy. In order to prolong the working time of AUV and improve its working ability, the dynamic docking technology between AUV and mobile mother ship is studied. Firstly, a hybrid guidance system based on visual guidance and acoustic guidance is designed on the background of fork-carrying-pole recovery docking. Secondly, according to the structural characteristics of the recycling docking station, the dynamic control docking scheme is designed. Next, to avoid collisions when the AUV is docked with the mother ship too fast, according to different reference variables, safe longitudinal and vertical expected speeds are designed so that the AUV can enter the docking station at a safe speed as soon as possible. Finally, the docking process between AUV and mother ship is simulated. The simulation results show that the designed docking scheme and tracking control system are reasonable and effective.