Docking problem and guidance laws considering drift for an underactuated AUV

Various configurations of underwater docking stations have been developed during the last two decades. In this paper, five parameters are suggested to specify characteristics of the docking stations. And then, we describe docking problem using the five parameters. Unidirectional approach for docking of an under-actuated AUV (Autonomous Underwater Vehicle) is considered and effects of drift caused by ocean currents are introduced. To compensate the effect, modified linear terminal guidance and a time-varying ocean current observer were designed. Simulation studies are also included.