Introduction to the Docking of the Ocean Explorer Series AUV

      The possibilities of docking AUVs provide excellent opportunities to collect data in a manner, which is not easily possible today. A small AUV with a docking station can operated in an area for extended durations and cost effectively provide an extensive search of that area. AUVs can give excellent surveys providing spatial and temporal data gathering within an attainable range from the dock. Currently, the Ocean Explorer AUVs are designed to operate with 8-12 hours mission durations at 3 knots. Through multiple missions over the period of deployment, the AUV can provide coverage of over 330 square miles surrounding the docking facility. After each mission, the AUV returns to the dock to "refuel", download the mission data, and upload any mission changes.

PURPOSE OF THE DOCKING SYSTEM
     The purpose of the docking system is to move the vehicle towards and eventually into the dock by providing successive fuzzy goals for the AUV. As the AUV approaches the dock it continually slows down and align itself with a docking axis.

     Most docking methods for AUV's use a nose-first approach, however due to the modularity of the Ocean Explorer AUVs, this is highly undesirable. Instead, a docking method using a belly-mount stinger is being developed.

FUZZY RULEBASE
     The success of the docking procedure stems from how the rulebase is defined. The position of the AUV is sent to the rulebase where the rules provide the commands which drive the AUV to its goal.