Region boundary-based control scheme for an underwater vehicle with an edge-based segmentation approach

In this paper, a novel point-to-point motion controller is proposed for an underwater vehicle. Within this control concept, an edge-based segmentation approach is utilized to facilitate the problem that is associated with the region boundary-based control technique. The stability of the presented control law is proven in the sense of Lyapunov. Simulations on a 6-DOF underwater vehicle are carried out to illustrate the performance of the proposed control scheme.