An integrated approach to multiple AUV communications, navigation and docking

In this paper we report on our progress in two topics related to the development of an autonomous oceanographic sampling network. The first topic deals with the use of a flexible DSP system on the Odyssey class AUV which provides acoustic communications and ultra-short baseline navigation, while the second topic details our efforts in integrating these capabilities for the purpose of autonomous vehicle docking. We present an algorithm for homing in on a beacon and our results of testing this approach at sea. We show how our docking approach may be extended to allow coordinated multiple vehicle operations and demonstrate this approach for the case of two vehicles conducting a coordinated survey. We also include results from the at-sea tests of our acoustic communications system