Docking method for hovering type AUVs by acoustic and visual positioning

We propose a docking method for a hovering type AUVs at a seafloor station. Although hovering type AUVs are suitable for detailed surveys of local area, docking methods are currently less studied compared with ones for cruising type AUVs. This paper proposes a docking method for hovering type AUVs based on both the acoustic and visual positioning. The proposed method was implemented in the AUV Tri-TON and a trial station in order to verify its performance through tank experiments. The vehicle succeeded in docking at the station 13 times, which accounts for half of the total number of trials. The possible causes of the failures and improvement methods are also discussed.