High Speed Maneuvering


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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This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

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