A review of underwater docking and charging technology for autonomous vehicles

This paper reviews the development of underwater docking technology and compares the advantages and disadvantages of various docking methods. Docking station types, acoustic and optical navigation, path planning, dynamic obstacle avoidance, motion control, underwater charging, and data transmission techniques are discussed. The advantages and drawbacks of capture, platform, and tapered port docking stations are compared in detail. Tapered port structures with acoustic and visual phased navigation are the dominant method. However, natural light causes serious interference with visual guidance, especially in shallow waters. The main challenges are integrated acoustic and optical navigation as well as low-speed and current-resistant stabilization control of underdriven autonomous underwater vehicles. The latest advances in underwater wireless charging and data transmission are described. Wind, wave, and solar energy can support autonomous underwater vehicles in achieving zero carbon emissions. In the future, underwater docking stations networking, and conversion charging using clean energy have broad development prospects.