Guidance algorithm for an autonomous unmanned underwater vehicle to a given target

One possible variant of solving the problem of guidance of an autonomous unmanned underwater vehicle to a given target is considered. At large distances, navigation is based on measuring the time of propagation of acoustic signals. Short-range positioning is ensured by processing images taken by an optical camera. PID control is applied as an algorithm controlling the vehicle position and attitude in space. The proposed algorithm is implemented as a computer code and tested in a series of numerical experiments.