Bilale, AbudurehemanSavvaris, AlTsourdos, Antonios2018-06-272018-06-272017-10-26Bilal Abdurahman, A. Savvaris and A. Tsourdos. A comparison between guidance laws for AUVs using relative kinematics. OCEANS 2017, 19-22 June 2017, Aberdeen, Scotland, UK.978-1-5090-5278-3https://ieeexplore.ieee.org/document/8084781/https://dspace.lib.cranfield.ac.uk/handle/1826/13275This paper presents a comparison between three popular guidance laws for path following of autonomous underwater vehicles: switching enclosure-based Line-Of-Sight (LOS), lookahead-based LOS, and vector field guidance laws. The equations of motion employ the concept of the relative kinematics, and a nonlinear controller is applied together with the guidance systems during path-following. The optimal tuning values for each guidance are selected using the Pareto efficiencies from multiple simulations in terms of providing low cross-track error and control effort. Performance analysis are carried out for a waypoint following scenario both with and without significant constant and irrotational ocean currents as disturbances. Simulation results are also presented using the model of an AUV.enAttribution-NonCommercial 4.0 Internationalhttp://creativecommons.org/licenses/by-nc/4.0/line-of-sightguidance lawspath-followingcontrolcurrent disturbanceunderwater vehiclesConference paper