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5. CONCLUSION
The paper discusses the methodologies that can be applied to perform satisfactory UUV motion planning and
tracking control, as well as the authors’ thoughts on the benefits or drawbacks of these methods. In general,
motion planning and tracking control for UUVs require the vehicle to realize an efficient and robust under-
water operation of addressing and approaching the targets, with the optimal planned paths, task assignment
among multiple vehicles, and robust trajectory tracking procedure. The framework and current investigations
of UUV motion planning and tracking control are given in Sections 2 and 3. Moreover, although researchers
have developed some effective methodologies on these topics, challenges remain to be resolved, which are
listed in Section 4, together with the possible developments of UUV motion planning and tracking control
technologies.
DECLARATIONS
Authors’ contributions
Made substantial contributions to the research and investigation process, reviewed and summarized the liter-
ature, wrote and edited the original draft: Zhu D, Yan T
Performed oversight and leadership responsibility for the research activity planning and execution as well as
developed ideas and provided critical review, commentary and revision: Yang SX
Availability of data and materials
Not applicable.
Financial support and sponsorship
This work was supported by the Natural Sciences and Engineering Research Council (NSERC) of Canada.
Conflicts of interest
All authors declared that there are no conflicts of interest.
Ethical approval and consent to participate
Not applicable.
Consent for publication
Not applicable.
Copyright
© The Author(s) 2022.
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