Real-time Path Planning for Autonomous Underwater Vehicle Mobile Docking

In this paper, we study the real-time path planning problem for AUV mobile docking. The proposed algorithm take the terminal heading and velocity into consideration while AUV docking into the underwater mobile platform using the relative velocity and position between AUV and the platform, the algorithm generates the desired speed and desired heading for the AUV. The simulation results and pool experimental results both show that the proposed algorithm can work well.