ALGORITHM FOR THE AUV GUIDANCE TOWARDS A SIGNAL SOURCE UTILIZING THE EXTREMUM SEARCH CONTROLLER
This work presents an algorithm for the autonomous underwater vehicle (AUV) guidance towards an acoustic signal source. The decision is made based on the validity of time-of-flight measurements for acoustic sound waves from the source. Automatic guidance is provided utilizing the extremum search controller. Proposed algorithm was modeled and tested using series of numerical experiments.
Keywords: extremum-seeking control, guidance, autonomous underwater vehicle.