Collision dynamics in AUV docking with conical hood type dock: influencing factors and performance analysis

Abstract

ABSTRACT To enhance docking safety, the collision dynamics during autonomous underwater vehicle (AUV) docking is investigated. Various factors such as dock structures, motion conditions, and related parameters are considered. The relationship between docking collision force and key parameters is unveiled by the mathematical model based on the restoration coefficient method and equivalent spring damping method. Multivariate nonlinear fitting functions are proposed to evaluate collision force and docking time. Furthermore, the deductions made in the research are supported by a preliminary test and the groundwork for further analysis is laid. The study demonstrates the impacts of various factors on docking, including different docking cone hood profiles, structures, velocities, accelerations, eccentricities, traction forces, angles, and force indices. By clarifying relevant mechanism, docking parameters can be achieved to meet diverse docking requirements and enhance the device's lifespan. The research offers valuable insights for achieving smoother AUV docking with conical hood type docks.