Trajectory tracking for AUV with constant velocity

Trajectory tracking is defined as getting from point A to point B at a certain time, as the time history of a continuous sequence of configurations between the current configuration of the robot and its goal configuration. In the simulation shows that is required some seconds for an autonomous underwater vehicle (AUV) to return to the path specified as a certain trajectories, if the track form a 90 degree angle, the AUV must create a new track by the way out of line to make it easier to maneuver all subsequent back on track, The simulation presented involved of AUV receiving a simulated command to following at a particular trajectories. In practice, it be able to receive a command to certain trajectories at any time during her mission.