Towards AUV docking on sub-sea structures

Conclusion from previous I-AUV projects and separate research in navigation and docking were consolidated to form a guideline for autonomous underwater docking. The example of docking on intervention panel was chosen to show how the standard can be expanded to improve on the key factors: navigational precision, reliability and mechanics. Particular results are shown for localization techniques to use in navigation in the vicinity of the docking panel. Also mechanical structure is put forward to optimize the panel for autonomous operation.