Autonomous Underwater Vehicle (AUV)

• Addressing the combined problem of trajectory planning and tracking control for under-actuated autonomous underwater vehicle(AUV).
• Formulated the kinematics and dynamics equations for the above system.
• Worked on designing a Linear Quadratic Regulator(LQR) controller, which aims at tracking a series of way-points which operator registers arbitrarily in advance.
• Employed MATLAB software to carry out simulations.