Implementation of a heading autopilot and LOS guidance system for MAUV

In this paper a planar Line of Sight (LOS) guidance system is designed for A Miniature Autonomous Underwater Vehicle (MAUV). This system is based on a very simple strategy. The desired angle is computed by finding the line of sight between the current position of the vehicle and the waypoint to be reached. The configuration of guidance controller provides input to the heading controller. Selecting appropriate gains, the response of heading controller is sufficiently fast to track the heading command provided by the guidance system. The simulated model of this guidance system is investigated. The results show that LOS guidance system provides an efficient trajectory.

Keywords:

Autonomous Underwater Vehicle (AUV) , heading autopilot , Line of Sight (LOS) guidance system