AUV docking on a moving submarine using a K-R navigation function

In this paper, we present a navigation function based approach for docking onto a moving submarine. Docking of a AUV is a difficult problem due to currents and the presence of no fly zones around the submarine. The navigation function approach provides an integration of no-fly zones into the controller and determines the desired heading taking the kinematic constraints of the AUV into account. Simulations are presented to validate the navigation functions based docking solution.