Development of the method for estimating the velocity of motion of the AUV along a trajectory given by parametric curve

The paper presents an algorithm that allows determining the velocity required for the motion of an autonomous underwater vehicle (AUV) along the trajectory described by a third-order parametric spline with consideration of the saturation of the thrusters. The velocity setting up on the basis of the proposed method has constant value and does not lead to exceedance the maximum allowed values of thrusters forces and moments on any part of the trajectory. The resulting expressions allow to estimate the program velocity of the motion in advance, before the motion begins.The simulation results confirm the efficiency of the proposed method for determining the program velocity of the AUV motion.