Abstract: The moving docking technology of underwater autonomous vehicles is studied in order to achieve collaborative work of multiple marine robots at sea, improve the comprehensive operation capability of autonomous underwater vehicle (AUV), expand the unmanned operation scenarios, and increase the time for AUV to work autonomously. A docking system based on acoustic guidance is designed for funnel-type dock station, and the ultimate path back to the dock station is planned according to the structural characteristics of the docking station and the calculation principle of guiding sensor. Under the premise of ensuring the docking safety, the water body for docking is divided into safe area, dangerous area and docking area. According to the relative position relation between the AUV and the docking station, the docking path is planned in the safe area and the docking area, and the corresponding control strategy and guidance algorithm are designed for different paths. Finally, the reliability of the docking system is verified by the lake test. The related guidance algorithm and control strategy are of strong universality and high robustness in a series of hovering docking tests and moving docking tests. In docking tests at different depths and speeds under water, the designed methods can ensure a higher docking success rate. In docking tests with the solidified technology, the docking success rate is higher than 90%.