Dubins Path-based Dynamic Docking Trajectory Planning for Autonomous Underwater Vehicle

WANG Yue; RAN Qili; ZHANG Yuanxu; TANG Qinghua; CHEN Guofang; Gao Jian

doi:10.11993/j.issn.2096-3920.2026-0088

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WANG Yue, RAN Qili, ZHANG Yuanxu, TANG Qinghua, CHEN Guofang, Gao Jian. Dubins Path-based Dynamic Docking Trajectory Planning for Autonomous Underwater Vehicle[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2026-0088

Citation:

WANG Yue, RAN Qili, ZHANG Yuanxu, TANG Qinghua, CHEN Guofang, Gao Jian. Dubins Path-based Dynamic Docking Trajectory Planning for Autonomous Underwater Vehicle[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2026-0088

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Dubins Path-based Dynamic Docking Trajectory Planning for Autonomous Underwater Vehicle

doi: 10.11993/j.issn.2096-3920.2026-0088

WANG Yue^1
,,
RAN Qili^2
,,
ZHANG Yuanxu^1
,,
TANG Qinghua^1
,,
CHEN Guofang^1
,,
Gao Jian^{1
,
,}

1.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
2.
Shanghai Civil Aviation Control and Navigation System Co., Ltd, Xi’an 710076, China

Received Date: 2026-05-09
Accepted Date: 2026-06-25
Rev Recd Date: 2026-06-23

Available Online: 2026-11-05

Abstract

Abstract

The dynamic docking recovery of autonomous undersea vehicle (AUV) faces multiple challenges, including moving-target rendezvous, terminal attitude alignment, and acoustic positioning limitations. Existing trajectory planning methods struggle to simultaneously achieve time optimality and robustness under these constraints. To address these challenges, this paper proposes a time-optimal dynamic docking trajectory planning method based on Dubins paths. First, the mid-range guidance phase is formulated as a constrained shortest-path problem in the horizontal plane. By constructing a time residual function, the dynamic arrival point of the moving recovery platform is predicted, and a feasible Dubins path satisfying the minimum turning radius constraint of the AUV is solved. Second, an online replanning mechanism triggered by the beamwidth of the Ultra-Short Baseline (USBL) system is designed to suppress trajectory divergence caused by environmental disturbances and observation noise. Multi-scenario simulation results demonstrate that, compared with the traditional line-of-sight guidance method, the proposed approach enables effective tracking of the moving platform and terminal heading alignment under typical dynamic docking conditions, while maintaining good trajectory convergence and anti-interference capability under disturbances and measurement errors.
- autonomous underwater vehicle,
- dynamic docking and recovery,
- Dubins path,
- trajectory planning

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References(29)

References

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