Using the command line tool MiniUPnP client

Installation method:

Download the source code here and compile it as follows:

make
sudo checkinstall

This way, you can uninstall it later.

usage method:

Usage : upnpc [options] -a ip port external_port protocol [duration]
        Add port redirection
        upnpc [options] -d external_port protocol <remote host>
        Delete port redirection
        upnpc [options] -s
        Get Connection status
        upnpc [options] -l
        List redirections
        upnpc [options] -L
        List redirections (using GetListOfPortMappings (for IGD:2 only)
        upnpc [options] -n ip port external_port protocol [duration]
        Add (any) port redirection allowing IGD to use alternative external_port (for IGD:2 only)
        upnpc [options] -N external_port_start external_port_end protocol [manage]
        Delete range of port redirections (for IGD:2 only)
        upnpc [options] -r port1 [external_port1] protocol1 [port2 [external_port2] protocol2] [...]
        Add all redirections to the current host
        upnpc [options] -A remote_ip remote_port internal_ip internal_port protocol lease_time
        Add Pinhole (for IGD:2 only)
        upnpc [options] -U uniqueID new_lease_time
        Update Pinhole (for IGD:2 only)
        upnpc [options] -C uniqueID
        Check if Pinhole is Working (for IGD:2 only)
        upnpc [options] -K uniqueID
        Get Number of packets going through the rule (for IGD:2 only)
        upnpc [options] -D uniqueID
        Delete Pinhole (for IGD:2 only)
        upnpc [options] -S
        Get Firewall status (for IGD:2 only)
        upnpc [options] -G remote_ip remote_port internal_ip internal_port protocol
        Get Outbound Pinhole Timeout (for IGD:2 only)
        upnpc [options] -P
        Get Presentation url

protocol is UDP or TCP
Options:
  -e description : set description for port mapping.
  -6 : use ip v6 instead of ip v4.
  -u url : bypass discovery process by providing the XML root description url.
  -m address/interface : provide ip address (ip v4) or interface name (ip v4 or v6) to use for sending SSDP multicast packets.
  -z localport : SSDP packets local (source) port (1024-65535).
  -p path : use this path for MiniSSDPd socket.
  -t ttl : set multicast TTL. Default value is 2.

For example, to map port 3222 of an external network to port 22 of 192.168.31.134, you can use the following command:

upnpc -a -e 'ssh' 192.168.31.134 22 3222 tcp

To remove the mapping for external port 3222, use the following command line:

upnpc -d 3222 tcp

Using the GUI tool UPnP Router Control

Search "Ubuntu software" for upnp. After installation, add port mapping according to the GUI prompts.