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 t...

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Bibliographic Details
Published in:	Applied sciences Vol. 11; no. 24; p. 11891
Main Authors:	Villa, Jose, Vallicrosa, Guillem, Aaltonen, Jussi, Ridao, Pere, Koskinen, Kari T.
Format:	Journal Article
Language:	English
Published:	Basel MDPI AG 01.12.2021
Subjects:	Algorithms Autonomous underwater vehicles AUV Controllers Field study GNC Mathematical models MATLAB-Simulink Methods model-validation Ocean currents Parameter estimation path-following ROS Sensors Simulation Software Vehicles Velocity
ISSN:	2076-3417, 2076-3417
Online Access:	Get full text
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