Autonomous underwater vehicle adaptive docking control

This paper investigates the AUV docking control method based on linear tracking control and waypoint guidance. According to the principle that the AUV finally enters into the recycling station along a straight line, this method designs an in-place preparatory waypoint for the AUV, combining the advantages of linear tracking control and waypoint guidance to guide the AUV to a waypoint directly in front of the entrance to the docking station. A control algorithm with adaptive lateral tracking is used to enable the AUV to accurately track back to the midline of the docking station and to overcome cross-current interference, ultimately into the recovery station. Finally, the feasibility and effectiveness of the method are verified by simulation studies.