Test Bed AUV for Docking Algorithm Research

Docking an autonomous underwater vehicle (AUV) for power recharge and data transmission is beneficial in many current and future applications, thereby increasing the interest on AUV docking studies. For a study on docking schemes and guidance algorithms, we need a low-cost AUV test bed, which should be convenient for deployment and operation. To address this concern, we designed a specific test bed AUV for testing the docking algorithms. The AUV, holding both a camera and a magnetic sensor, will serve as a platform for studying the docking algorithms of visual or electromagnetic guidance, or combinations of them. This paper presents the design and pool tests of the vehicle. The pool tests validated the maneuverability and docking ability of the AUV indicating that the vehicle can be used for docking algorithm research.