Docking the Ocean Explorer Autonomous Underwater Vehicle using a low-cost acoustic positioning system and a fuzzy logic guidance algorithm

Having the ability to dock an Autonomous Underwater Vehicle (AUV) can significantly enhance the operation of such vehicles. In order to dock an AUV, the vehicle's position must be known precisely and a guidance algorithm must be used to drive the AUV to its dock. This thesis will examine and implement a low cost acoustic positioning system to meet the positioning requirements. At-sea tests will be used as a method of verifying the systems specifications and proper incorporation into the AUV. Analyses will be run on the results using several methods of interpreting the data. The second portion of this thesis will develop and test a fuzzy logic docking algorithm which will guide the AUV from a location within the range of the sonar system to the docking station. A six degree of freedom simulation incorporating the Ocean Explorer's hydrodynamic coefficients will be used for the simulation.