Model-Validation and Implementation of a Path-Following Algorithm in an Autonomous Underwater Vehicle

Model-Validation and Implementation of a Path-Following Algorithm in an Autonomous Underwater Vehicle

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 t...

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Bibliographic Details
Main Authors: Jose Villa, Guillem Vallicrosa, Jussi Aaltonen, Pere Ridao, Kari T. Koskinen
Format: Article
Language:English
Published: MDPI AG 2021-12-01
Series:Applied Sciences
Subjects:
model-validation
path-following
GNC
AUV
MATLAB-Simulink
ROS
Online Access:https://www.mdpi.com/2076-3417/11/24/11891

Internet

https://www.mdpi.com/2076-3417/11/24/11891

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