Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="246469.fig.004a" src="https://static.hindawi.com/articles/tswj/volume-2014/246469/figures/246469.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>UUV at the left side of the mother vessel</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="246469.fig.004b" src="https://static.hindawi.com/articles/tswj/volume-2014/246469/figures/246469.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>UUV at the right side of the mother vessel</td></tr></table></td></tr></table>

<table>The recovery admittance angle.</table>

The Scientific World Journal

fig4

Figure 4

Figure 4: Path Planning Method for UUV Homing and Docking in Movement Disorders Environment 