Cooperative docking system for Unmanned Surface Vehicle (USV)

Unmanned Surface Vehicles (USVs) offer diverse applications, from security missions to oceanographic surveys. A major challenge in USV autonomy is the development of effective docking systems to ensure operators remain out of the water. This paper introduces a novel docking solution based on a cooperative approach that enhances USV autonomy by enabling autonomous return to docking stations. This docking approach utilizes a combination of sensors, including GPS RTK with dual antennas and IMUs, along with secure wireless communication between the USV and the docking system. This configuration ensures the system is independent of weather conditions. The focus is on the architecture of this system and the management of path planning using an Artificial Potential Field (APF) algorithm. Initial results from simulations are presented, followed by experimental studies conducted in a lake, demonstrating the system's robust performance.