Way-point tracking for a hovering AUV by PID controller

In this paper, we suggest a PID controller for tracking the way-points of hovering autonomous underwater vehicle(HAUV). The PID controller is aimed at tracking arbitrary way-points and the way-points are established as the surveillance pathway for an offshore plant construction. Controllers are composed of a vertical plane controller and a horizontal plane controller. To verify the performance of the suggested controller, we designed a simulator using Matlab/Simulink, and the parameters of HAUV are those of developing HAUV. As the result of simulation, the PID controller chased all the way-points within error range of 1 meter, and therefore shows durability of suggested controller.