Path following algorithm for minimally specified lawn-mower type AUV missions

Abstract

This paper describes a simple online target point generator algorithm that allows for minimal specification of Autonomous Underwater Vehicle (AUV) missions. The mission pattern is specified through the spatial coordinates of its corners only, requiring minimal mission information storage in order to execute a mission. To follow the mission path the algorithm generates intermediate target points along the desired trajectory based on the current estimated position of the AUV. The performance of the algorithm when implemented and tested in a real AUV is reported.