Model-validation and implementation of a path-following algorithm in an autonomous underwater vehicle

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

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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 techniques, including the model validation based on field test data. Then, the guidance system incorporates a line-of-sight (LOS) algorithm with a combination of position PID controllers. The GNC architecture includes a modular and multi-layer approach with an LOS-based, path-following algorithm in the AUV platform. Furthermore, the navigation used in the path-following algorithm is developed based on a predefined coverage area. Finally, this study addresses simulation and field test control scenarios to verify the developed GNC architecture.

Original languageEnglish
Article number11891
JournalApplied Sciences (Switzerland)
Issue number24
Publication statusPublished - Dec 2021
Publication typeA1 Journal article-refereed


  • AUV
  • GNC
  • MATLAB-Simulink
  • Model-validation
  • Path-following
  • ROS

Publication forum classification

  • Publication forum level 1

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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