This paper considers the development of three autopilots for controlling the yaw responses of an autonomous underwater vehicle model. The autopilot designs are based on the adaptive network-based fuzzy inference system (ANFIS), a simulated, annealing-tuned control algorithm and a traditional proportional-derivative controller. In addition, each autopilot is integrated with a line-of-sight (LOS) guidance system to test its effectiveness in steering round a series of waypoints with and without the presence of sea current disturbance. Simulation results are presented that show the overall superiority of the ANFIS approach.