Designing guidance and control schemes for AUVs using an integrated simulation environment

We discuss the features of a simulation package for designing and testing different guidance and control systems and for simulating underwater vehicles dynamics. As a case study, an integrated guidance and control scheme based on a collision avoidance module and nonlinear PD controller is designed for an autonomous underwater vehicle (AUV). Using the simulation environment, the design process can be done interactively and the effectiveness of the scheme may be tested with respect to specific mission scenarios. We show how the simulation package facilitates a fine tuning of the joint control and guidance algorithm, and the evaluation of the overall performances