Model-based Guidance, Navigation and Control architecture for an Autonomous Underwater Vehicle

Jose Villa, Guillem Vallicrosa, Jussi Aaltonen, Pere Ridao, Kari Koskinen

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

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This article studies the design, modeling, and implementation of a model-based Guidance, Navigation, and Control (GNC) architecture for an Autonomous Underwater Vehicle (AUV). First, effective simulation modeling is developed using a theoretical six-degree-of-freedom (6DoF) dynamic model. Then, this study considers two GNC algorithms (simple and advanced). The simple GNC algorithm considers three different kinds of PID controllers (velocity, velocity-position, and position), and the advanced GNC algorithm enables path-following and data acquisition and processing from an underwater sensor. The path following is based on the position control using a unique PID controller and obtains its waypoints from a wall detection algorithm. This wall detection algorithm uses a mechanical imaging sonar as the main perception sensor. Finally, an implementation challenge in two control scenarios is addressed to validate the designed GNC architecture and to carry out model-verification of the position PID controller.
Original languageEnglish
Title of host publicationGlobal Oceans 2020: Singapore – U.S. Gulf Coast
Number of pages6
ISBN (Electronic)978-1-7281-5446-6
ISBN (Print)978-1-7281-8409-8
Publication statusPublished - 9 Apr 2021
Publication typeA4 Article in a conference publication
Duration: 5 Oct 202014 Oct 2020




  • model-verification
  • model-based
  • GNC
  • AUV
  • MATLAB-Simulink
  • ROS

Publication forum classification

  • Publication forum level 1


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