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Consider the case where a sonar transducer in the UUV does not rotate, and it only emits fixed sonar ray reporting a simple distance measurement. This reduces the power consumption of the UUV, while reducing the UUV\u2019s size and price. The UUV is controlled to proceed in tunnel-like environments, while maintaining a predefined distance from the tunnel boundaries. For maintaining a predefined distance from tunnel boundaries, the UUV uses fixed sonar rays surrounding it. As far as we know, our article is novel in developing 3-D surface tracking controls of tunnel-like environments utilizing an UUV with fixed sonar rays surrounding it. MATLAB simulations are used for demonstrating the performance of the proposed tracking controls.<\/jats:p>","DOI":"10.1007\/s10846-023-02044-5","type":"journal-article","created":{"date-parts":[[2024,2,3]],"date-time":"2024-02-03T10:02:05Z","timestamp":1706954525000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Surface Tracking Controls of an Unmanned Underwater Vehicle with Fixed Sonar Ray Measurements in Tunnel-Like Environments"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7565-068X","authenticated-orcid":false,"given":"Jonghoek","family":"Kim","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,2,3]]},"reference":[{"key":"2044_CR1","doi-asserted-by":"crossref","unstructured":"Allotta, B., Costanzi, R., Fanelli, F., Monni, N., Paolucci, L., Ridolfi, A.: Sea currents estimation during auv navigation using unscented kalman filter. 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