An Autonomous Underwater Vehicle Navigation Technique for Inspection and Data Acquisition in UWSNs by Arif Wibisono, Md. Jalil Piran, Hyoung-Kyu Song, Byung Moo Lee

“…The model successfully navigates to the target point in 3D coordinates X Y Z, assuming the launch point as d0 (10 40 40), and reaches the q-goal target point (45 45 0) within 21 seconds, with the addition of uattractive and urepulsive (magnetic beacon attraction force and repulsion force as simulation of underwater current disturbance factor). …”
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