Formation Control of Multi-AUV Based on Virtual Leaders With Blind Area

摘要

Cooperation of multiple autonomous underwater vehicles (AUVs) has become a hotspot of current AUVs, in which formation control is the typical problem, and a basis of other cooperative control problems. In this work, a mathematic model of the formation control for AL'Vs in obstacle-free environment was established. A feedback control law is given that can achieve a pre-specified formation for a group of AUVs, and the formation control law based on virtual leaders with blind area for reducing communication requirements was derived. The efficiency of the proposed control law was validated by simulation experiment.