Path Planning and Open-loop Control Algorithms for a Differential Thrust Autonomous Underwater Vehicle

The world’s interest in underwater applications of unmanned vehicles has experienced a significant increase in recent years. The hazardous and erratic conditions of underwater missions along with their cost and the environmentally hazardous effects of manned underwater vehicles, contribute to the desire to use smaller, more energy efficient, relatively cheap and environmentally friendly AUVs. This paper presents a novel differential thrust control method of an AUV that attempts to broaden their applicability through design for complete Automation in addition to development of a three dimensional path generation tool which provides the trajectory data.