Filtering and control of an autonomous underwater vehicle for both target intercept and docking

This research explores filtering and control algorithms for autonomous underwater vehicles that use sonar sensors for target localization. Both active and passive sonar sensors are explored. Two distinct problems are studied: the intercept problem in which the autonomous vehicle attempts to intercept a maneuvering target (the torpedo intercept problem), and the docking problem in which the autonomous vehicle attempts to reach a desired position and velocity (or orientation) with respect to an observed stationary or moving object.