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AUV planner tracking control based on the line of sight guidance method

In order to achieve autonomous underwater vehicle (AUV) path tracking control accurately, especially for the underactuated AUV which lack of lateral input control, and unable to control lateral movement of AUVs directly, while the method of the line of sight guidance can solve this problem. The method by designing the forward vector and the former viewpoint, and the path tracking of the desired point is mapped into a desired heading, and through the desired heading tracking can achieve accurate tracking path. Using the method of the guide and combined with the traditional PID control, the paper designed speed controller and heading controller, respectively, and the straight line and circle simulation was carried out. The simulation results indicate that the method can well achieve high precision of path tracking.