Research Article
Composite Curve Path following an Underactuated AUV
Table 3
Parameters of the composite curve path.
| | No. | Subpath type | Parameter | Value |
| | 1 | Straight line | | | | | | |
| | 2 | Straight line | | | | | | |
| | 3 | Circular arc | | | | 100 | | 0 | | |
| | 4 | Straight line | | | | 154.9566 | | |
| | 5\6 | Fermat’s spiral | | | | | | 0.1329 | | | | | | 1 |
| | 7 | Straight line | | | | 237.7993 | | |
|
|
