Designing guidance and control Schemes for AUVs using an integreted simulation environment

In this paper we discuss the features of a simulation package for designing and testing different guidance and control systems and for simulating underwater vehicles dynamics. As a case study, an integrated guidance and control scheme based on a collision avoidance module and an nonlinear PD controller is designed for an autonomous underwater vehicle. Using the simulation environment, the design process can be done interactively and the e:ffectiveness of the scheme may be tested with respect to specific mission scenarios. We show how the simulation package facilitates a fine tuning of the joint control and guidance algorithm, and the evaluation of the overall performances.