Navigation and control of an AUV affected by asymmetric thruster response

Abstract

This paper presents a set of navigation, control and allocation algorithm suitable for underwater vehicles equipped with inertial measurement unit, underwater positioning systems and fixed thrusters with asymmetric response. All the algorithms are detailed in this document together with simulation results and comments. Low computational demand and well-established methods make the proposed combination of navigation, guidance and control system suitable for reliable AUV operations.