In this paper, a turning circle based trajectory planning method (TCBTPM) is proposed to conduct trajectory planning of an underactuated autonomous underwater vehicle (AUV) for mobile docking mission. Firstly, the six degrees of freedom kinematics and dynamics model of underactuated AUV is acquired. Following this, the simulation of horizontal turning circle trial is studied and the overview of mobile docking mission is introduced. Furthermore, TCBTPM is used to predict the relative position of AUV and the mobile docking station (MDS) in advance and generate a feasible trajectory for the mobile docking mission. Finally, a mobile docking guidance system containing TCBTPM, pure pursuit (PP) guidance law and line-of-sight (LOS) guidance law is employed to obtain desired guidance commands and guides the underactuated AUV to dock efficiently and reliably.

在本文中，提出了一种基于转弯圆的轨迹规划方法（TCBTPM）来进行移动对接任务的欠驱动自主水下航行器（AUV）的轨迹规划。首先，获得欠驱动AUV的六自由度运动学和动力学模型。在此基础上，研究了水平转圈试验的仿真，并介绍了移动对接任务的概述。此外，TCBTPM用于提前预测AUV与移动对接站（MDS）的相对位置，并为移动对接任务生成可行的轨迹。最后，一个包含TCBTPM的移动对接引导系统，