AUV Dynamic Docking Based on Longitudinal Safety Speed

Aiming at the recovery requirements of Autonomous Underwater Vehicle (AUV), a scheme for recycling AUVs through dynamic docking between mother-vehicle and AUV was proposed. Considering the difficulty of communication, a detailed non-cooperative dynamic docking scheme was designed, including three stages: searching segment, approaching segment, and docking segment. In order to avoid the risk of collision due to excessive speed when the AUV docks with the mother-vehicle, different reference quantities are selected according to the features of the various docking stages to design a safe longitudinal desired speed so that the AUV can approach the mother-vehicle as quickly as possible and with safety speed enters docking station. In the end, the simulation of the AUV approaching the mother-vehicle and the completion of the docking process is simulated. The simulation results show that the designed docking scheme and tracking control system are reasonable and effective. As the position deviation decreases, the longitudinal speed of the AUV gradually transitions to the speed of the mother-vehicle.