Autonomous Docking between a Mobile Subsea Docking Station and an AUV while in Motion

The launch and recovery of an autonomous under-water vehicle (AUV) is a critical phase for the operation of these vessels and one of the most likely points of failure. One of the major risk factors are weather conditions, which may even prevent the process altogether. We address this issue with a novel launch and recovery system (LARS) comprised of a highly maneuverable AUV-like docking station tethered to a supply vessel. While this allows the mitigation of unfavorable weather conditions, it requires a higher degree of autonomous capabilities. In this paper, we present a novel method for facilitating physical docking underwater between two autonomous underwater vehicles, while both of them are in motion and with tight tolerances. This is achieved by blending between control laws based on a custom distance metric. Our approach is validated in simulation and physical trials.