RETRACTED: An autonomous underwater vehicle docking system based on optical guidance

This article has been retracted: please see Elsevier Policy on Article Withdrawal (http://www.elsevier.com/locate/withdrawalpolicy).This article has been retracted at the request of all authors and under the approval of the Editor-in-Chief since the research work reported in the article contained the below errors:1) In section 4, the paper shows that the steering and diving motions are controlled with a nested loop controller. Actually the control algorithm used was a PID controller.2) In figure 14 and 19, the article gives the trajectory of AUV in experiments and claims that the trajectory is obtained with USBL. Actually, the USBL system doesn't work properly yet.3) In Fig. 16, AUV in pictures are not the AUV introduced in the prior sections of the paper.