Waypoint Guidance of Autonomous Underwater Vehicle Based on Line of Sight Law and Haversine Equations

Waypoint guidance is one of the most common guidance methods for following a predetermined path in all types of robots. In this method, in addition to the starting point and the goal, several intermediate points are determined as waypoints, and the robot must consider each of the intermediate waypoints as a virtual destination and reach that point. Then Switch to the next waypoint and reach the final destination by passing through all of them. The aim of this paper is to design a multi-point guidance algorithm based on Haversine equations and spherical earth model for an Autonomous Underwater Vehicle. It will be possible to implement all kinds of research projects, sonar photography of the seabed and waterways, and monitoring of energy and telecommunication transmission lines through the design of various routes using the proposed method. The proposed multi-point guidance algorithm has been implemented in the field of a research Autonomous Underwater Vehicle and its efficiency has been evaluated.