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Authors
Filoktimon Repoulias; Evangelos Papadopoulos

Identifier
10.3182/20060906-3-IT-2910.00099

Index Terms
underactuated AUV,3D trajectory planning,tracking

Abstract
This paper considers the problem of spatial planning and open-loop control for underactuated AUVs. Given a smooth inertial 3D trajectory to be followed by some vehicle point, the developed algorithm uses the vehicle dynamic model, and computes the 3D corresponding body-fixed linear and angular velocities as well as vehicle orientations, yielding a feasible 6 DOF trajectory. The design of tracking controllers is then facilitated by using this trajectory, which is consistent with AUV dynamics. The full 6 DOF computed trajectory is further used to compute the efforts for the three available control inputs and to result in an open-loop trajectory controller.

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