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The method makes a dynamic auxiliary circle, whose radius depends on the cross-track error <jats:italic>e<\/jats:italic>, to intersect the desired path to get a new expected path point, and then determines a modified expected heading for the AUV. The guidance function is achieved by a direct mapping between <jats:italic>e<\/jats:italic> and the heading modification value \u03a8<jats:sub><jats:italic>m<\/jats:italic><\/jats:sub>. Several cases are tested in order to demonstrate the performance of the guidance and control method based on DCHMs for a real AUV. Results show that methods using a convex mapping function between <jats:italic>e<\/jats:italic> and \u03a8<jats:sub><jats:italic>m<\/jats:italic><\/jats:sub> based on our new idea can easily achieve a better convergence of path following, and reduce the error between the actual and desired heading angles. We can also customize a discretionary mapping between <jats:italic>e<\/jats:italic> and \u03a8<jats:sub><jats:italic>m<\/jats:italic><\/jats:sub> to get better path following performance.<\/jats:p>","DOI":"10.1017\/s0263574715000867","type":"journal-article","created":{"date-parts":[[2015,11,2]],"date-time":"2015-11-02T08:47:06Z","timestamp":1446454026000},"page":"876-891","source":"Crossref","is-referenced-by-count":15,"title":["Horizontal path following for underactuated AUV based on dynamic circle guidance"],"prefix":"10.1017","volume":"35","author":[{"given":"Huang","family":"Xinjing","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Yibo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Du","family":"Fei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jin","family":"Shijiu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,11,2]]},"reference":[{"key":"S0263574715000867_ref22","doi-asserted-by":"crossref","unstructured":"X. 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