Small AUV docking algorithms near dock unit based on visual data

The algorithms of AUV positioning near the bottom dock unit based on visual data processing we considered in the paper. The vehicle detects artificial visual marker, orients properly and catches the dock gear for power and data transfer connection. The visual marker is situated on horizontal plane of dock unit and underwater vehicle uses down video camera for marker detection. Three types of plane marker were used for this task decision. Crosshairs and circular markers are contrasting lines with some peculiarities for orientation ambiguity elimination. There were considered situations with continuous and dotted lines constructed from LED. Third type of visual marker is plane figure from two different color and size rectangles - one is asymmetry enclosed to another. The algorithms of markers detection and AUV motion control near dock unit are considered and some experimental results using marine trials are supplemented.