Composite Curve Path following an Underactuated AUV

Table 1

Common composite curve paths.

Path	GC	Comments
Piecewise linear path		Generated directly through waypoints but is not suitable for path following of underactuated AUV
Circular smoothing		Generated by approximating methods, and curvature between straight and circular segments is discontinuous
Dubins path		Generated by interpolating methods, and curvature between straight and circular segments is discontinuous
Clothoid smoothing		Generated by approximating methods, linear varying curvature with an increased computational cost
Fermat’s spiral smoothing		Generated by interpolating methods, curvature-continuous paths with a very low computational cost compared to clothoid smoothing [19]