Fig. 1. The two traditional types of UUVs: ROVs and AUVs. These vehicles have different designs and perform different operations in different parts of the speed regime
An essential quality for free-swimming underwater vehicles like AUVs is their ability to maneuver accurately in the ocean space. Motion control is a fundamental enabling technology for such a quality, and every motion control system requires a guidance component. This guidance requirement serves as the main motivation for this work, whose aim is to provide a convenient overview of guidance laws applicable to motion control of AUVs. An extension of (Breivik & Fossen 2008), the exposition is deliberately kept at a basic level to make it accessible for a wide audience. Details and proofs can be found in the references.
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