Model-Validation and Implementation of a Path-Following Algorithm in an Autonomous Underwater Vehicle

This article studies the design, modeling, and implementation of a path-following algorithm as a guidance, navigation, and control (GNC) architecture for an autonomous underwater vehicle (AUV). First, a mathematical model is developed based on nonlinear equations of motion and parameter estimation techniques, including the model validation based on field test data. Then, the guidance system incorporates a line-of-sight (LOS) algorithm with a combination of position PID controllers. The GNC architecture includes a modular and multi-layer approach with an LOS-based, path-following algorithm in the AUV platform. Furthermore, the navigation used in the path-following algorithm is developed based on a predefined coverage area. Finally, this study addresses simulation and field test control scenarios to verify the developed GNC architecture This research was funded by the project MOCAV-G500 from EUMarineRobots that has received funding from the European Union’s Horizon 2020 (grant agreement No 731103), with the collaboration of the aColor project, which is funded by Technology Industries of Finland Centennial and Jane & Aatos Erkko Foundations