| AUV docking is the basis for its underwater recycling and energy replenishment, and the heading control technology during the docking process is the key to the successful docking. The program design, guiding principle and path tracking control method for a heavy-weight AUV docking when using the ultra-short baseline acoustic sensor to positioning is introduced. Path tracking method of the AUV in the horizontal plane is studied. The method of heading control with traversing thruster or wing thrusters is proposed when AUV at low speed. The availability of the above methods and algorithms is verified by lake trial. and the following conclusions are drawn: both methods are suitable for underwater docking, the wing steering method is more suitable for AUVs which need to swerve at a small area, when transverse thruster is used, the depth variation of AUV is smaller , the mean of depth deviation is within 0.5 meters, when tracking the polygonal path, this method has a stronger adjusting ability, at the final stage of docking, the average deviation from set route is 0.34 meter smaller than wing steering method. |
