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Navigation and control for a test bed AUV-SNUUV I

This paper describes the design of underwater navigation and control system useful for towing tank experiments of a test bed autonomous underwater vehicle (AUV) named by SNUUV I (Seoul National University Underwater Vehicle I). A 6 DOF dynamic model for the SNUUV I is derived with hydrodynamic coefficients, which are estimated with the help of the Extended Kalman Filter (EKF) and a potential code. Based on a mathematical model, a nonlinear sliding mode controller is designed for diving and steering maneuvers of SNUUV I. A navigation algorithm is developed using three ranging sonars keeping the towing tank condition in mind. It is demonstrated numerically that the navigation system together with the controller guides the vehicle to follow the desired depth and path with sufficient accuracy.