Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV

This paper details the development aspects of a low cost AUV autonomous, designed for autonomous pipline inspections, describing: hardware, software and control aspects. The article details three of the mains stages of the project, that have been already achieved: (a) the simulation results of Lyapunov based path planning of torpedo shaped AUV on pipe searching; (b) the construction details of dual torpedo AUV for pipeline inspection and (c) the experimental results when using the prototype in path following using the line of sight (LOS) algorithm.