A thrust vector controller for the EAVE vehicle

The developments done at the Marine Systems Engineering Laboratory at the University of New Hampshire require that the EAVE-EAST vehicle be capable of more complex movements. The original controller constrained the vehicle to travel with heading parallel or orthogonal to the desired path. Heading and Depth changes were restricted to seperate sequences. The modifications discussed allow the vehicle to move along any path independent of the heading. It is now possible to spin and change depth during all movements.