Encyclopedia of Robotics

Living Edition
| Editors: Marcelo H Ang, Oussama Khatib, Bruno Siciliano

Guidance of Autonomous Underwater Vehicles

  • Kristin Y. PettersenEmail author
  • Thor I. Fossen
Living reference work entry
DOI: https://doi.org/10.1007/978-3-642-41610-1_11-1

Synonyms

Definition

Guidance is the action or the system that continuously computes the reference (desired) position, velocity, and acceleration (PVA) of a moving vehicle to be used by the motion control system (Fossen, 2011). Shneydor (1998) defines guidance as “The process for guiding the path of an object towards a given point, which in general may be moving.” Draper (1971) states “Guidance depends upon fundamental principles and involves devices that are similar for vehicles moving on land, on water, under water, in air, beyond the atmosphere within the gravitational field of Earth and in space outside this field.” Thus, guidance represents a basic methodology concerned with the transient motion behavior associated with the achievement of motion control objectives (Breivik and Fossen, 2009).

Overview

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References

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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Engineering CyberneticsNorwegian University of Science and Technology (NTNU)TrondheimNorway

Section editors and affiliations

  • Gianluca Antonelli
    • 1
  1. 1.University of Cassino and Southern LazioCassinoItaly