Control of Underactuated AUVs for Survey and Pipe-Inspection Purposes: Path-following and Target Tracking for Underactuated AUVs

Abstract

1. Look at different control schemes for underactuated AUVs used for surveying and in particular pipe-inspection.2. Verify the results by simulation.3. If performance is poor as a result of environmental disturbances look into learning methods to compensate for these disturbances.