It is a good idea to use UUV-simulator for control simulations of Unmanned Underwater Vehicles.
MAC3 and Casadi control optimizaiton tools are used to apply PID and none model based sliding mode control.
The Framework is based on ROS, mainly in C++ and Python.
Matlab can be combined with ROS, as well as V-rep simulation software.
SOM method can also be used for tracking of multiple coexisting trajectories for autonomous underwater vehicles.
Dubins path planner can be used for AUV formation tracking.
