Improved Line-of-Sight Guidance Law for Path Following of Autonomous Underwater Vehicle with Compensation of Drift and Lift Forces

This paper presents an improved line-of-sight guidance law for robust path following of autonomous underwater vehicles (AUVs) subjected to drift and lift forces induced by environmental disturbances. The proposed method compensates the sideslip angle and angle of attack by integrating a Kalman-like observer into the LOS framework, enabling accurate and fast estimation of these parameters. By leveraging these estimates, the AUV achieves convergence to the desired path while mitigating path following errors caused by drift and lift forces. Comprehensive simulation studies validate the effectiveness of the guidance law.