Abstract

Abstract In this paper, we have designed a region reaching controller for an Autonomous Underwater Vehicle(AUV) using potential energy concept. The proposed controller also ensures static obstacle avoidance with obstacles considered as repulsive region. A filtering technique is utilized to produce an auxiliary velocity signal and thus, eliminate the requirement of velocity measurement. The control strategy provides asymptotic regulation of AUV pose. A simulation study of the proposed controller on ODIN AUV is also presented.

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