AUV way-point tracking at constant velocity: cross-track error (CTE) and line-of-sight (LOS) guidance

Abstract

This paper addresses the integrated challenges of path-following and tracking control for an under-actuated Autonomous Underwater Vehicle (AUV) in the two-dimensional (2D) plane. Four distinct 2D trajectories: linear, linear with sharp turns, curved, and circular trajectories have been considered in this study. The proposed path-following control algorithm leverages AUV kinematic and dynamic models, incorporating the Cross-Track Error (CTE) method and Line-of-Sight (LOS) technique to determine the desired orientation. Stability analysis has been performed to evaluate the robustness of the controllers against sudden underwater disturbances. Additionally, perturbation has been introduced in simulations to mimic real-world conditions more accurately. The simulations confirm the controllers’ proficiency in accurately tracking these various trajectories from a given starting point.