Autonomous Docking and Recharging of UUVs for Extended Mission Durations

Abstract

The capability for Unmanned Underwater Vehicles (UUVs) to autonomously dock and recharge is vital for extending mission durations and enhancing operational efficiency. This paper presents a comprehensive framework for autonomous docking and recharging of UUVs, integrating advanced perception and control algorithms. We explore the challenges associated with docking in dynamic underwater environments, including navigation, alignment, and environmental factors. Our approach employs computer vision and sensor fusion techniques to facilitate accurate positioning and docking maneuvers. Experimental results demonstrate successful autonomous docking and recharging operations, significantly improving mission endurance and reducing operational downtime. This research advances the development of UUVs capable of prolonged missions, contributing to applications in environmental monitoring, underwater exploration, and search-and-rescue operations.