A Novel 3D Path Following Scheme for a Class of Underactuated Underwater Vehicles with Unconventional Actuation

A 3D path following algorithm involving a novel motion control methodology is investigated for use on a new class of autonomous underwater vehicle (AUV). Unlike standard path following AUV control algorithms for underactuated vehicles, where roll perturbations are avoided, this unconventional algorithm utilizes active roll control to achieve a desired heading. The desired heading is calculated using traditional look-ahead techniques, and is achieved by performing a roll rotation to align the body-fixed yaw plane with the desired heading, and then a yaw rotation is performed to achieve that desired heading. It is demonstrated that this new path following algorithm achieves good tracking results, but experiences complications for increased forward velocities. It is also demonstrated that the complications at higher velocities can be overcome with adaptive adjustment of the look-ahead algorithm parameters.