Controls: Path following

[stanley-wei]

Look into common strategies for implementing path following and/or trajectory tracking in AUVs. This can be both AUVs in the wild, or AUVs made by other RoboSub teams specifically. If there are multiple strategies, evaluate relative pros and cons.

Later in the process, once a few potential strategies have been identified, look into implementations, particularly implementations in ROS2.

I made a document with a few initial resources; please add any findings, links, etc. as you go.

Some potential places you might want to look:

• Past technical reports from other RoboSub teams
• Textbooks and/or literature reviews on guidance in AUVs
• GitHub repositories relating to guidance in AUVs.
• Any ROS (preferably ROS2) resources relating to guidance in AUVs.
• Any general resources relating to guidance (not necessarily in AUVs).

[stanley-wei]

A note: the reason I grouped path following and trajectory tracking together is that depending on our approach, we may not need separate path following and trajectory tracking subsystems. If we were able to combine the functionality of both into a single node, for instance, we may be able to save on computational overhead.