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During the implementation of time-consuming tasks such as underwater observation or detection, AUV has to face a difficult and urgent problem that its working duration is greatly shortened by the limited energy stored in the battery device. To solve the power problem, a docking station is installed underwater for AUV charging its battery. However, to realize the automatic underwater charging of AUV via a docking station, the accurate and efficient completion of underwater homing and docking is required for AUV. Underwater automatic homing and docking system is of great significance to improve work efficiency and prolong the endurance of AUV save cost. In this paper, a unified approach that involves such as task planning, guidance and control design, thrust allocation has been proposed to provide a complete solution to the problem of homing and docking of an over-actuated AUV. The task-based hybrid target point/line planning and following strategy are proposed for AUV homing and docking. At the beginning of homing, AUV is planned to follow a straight line via the line of sight (LoS) method. Afterward, AUV starts to follow multiple predefined target points until reaching the docking station. At the final stage of docking (within 10 m), a dedicated computer vision algorithm is applied to detect a newly designed LED light array fixed on the docking station to provide accurate guidance for the AUV to dock. The sliding mode control technique is used for the motion control of the AUV allowing robustness. As the AUV configured with eight thrusters is over-actuated, the problem of the thrust allocation is very important and successfully solved using the quadratic programming (QP) optimization method. Finally, the simulations of homing and docking tasks using the AUV are accomplished to verify the proposed approach.

A Unified Approach for Underwater Homing and Docking of over-Actuated AUV