[Other] [Full book]Guidance of Autonomous Underwater Vehicles Copy

Autonomous underwater vehicle (AUV); Constant bearing; Guidance; Integral line-of-sight; Line-of-sight; Maneuvering control; Pure pursuit

Guidance is the action or the system that continuously computes the reference (desired) position, velocity, and acceleration (PVA) of a moving vehicle to be used by the motion control system (Fossen, 2011). Shneydor (1998) defines guidance as “The process for guiding the path of an object towards a given point, which in general may be moving.” Draper (1971) states “Guidance depends upon fundamental principles and involves devices that are similar for vehicles moving on land, on water, under water, in air, beyond the atmosphere within the gravitational field of Earth and in space outside this field.” Thus, guidance represents a basic methodology concerned with the transient motion behavior associated with the achievement of motion control objectives (Breivik and Fossen, 2009).