Journal of Shanghai Jiaotong University ›› 2019, Vol. 53 ›› Issue (5): 549-555.doi: 10.16183/j.cnki.jsjtu.2019.05.006

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Formation Control of Multiple Autonomous Underwater Vehicles Based on Sensor Measuring System

PANG Shikun,WANG Jian,YI Hong,LIANG Xiaofeng   

  1. MOE Key Laboratory of Marine Intelligent Equipment and System; State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • Online:2019-05-28 Published:2019-05-28

Abstract: Autonomous underwater vehicle (AUV) formation is of significance to the efficiency and viability of improving underwater operating. Leader-follower formation of AUVs is researched based on sensor measuring system aimed at the coordination control of AUV formation. The problems of communication delay and data lost caused by underwater acoustic communication can be avoided, and the reliability and survivability of the formation system can be improved. Firstly, the reference route of follower AUVs is generated according to the position information of leader AUV and the desired formation structure. The followers can measure the range and bear information of the leader, and then compare the date with the reference route. A back-stepping controller based on Lyapunov function is designed to make sure that the orbit of followers could converge to the reference trajectory in a short time and the desired formation can be achieved. The simulation analysis of formation control is conducted. The results show that the AUVs can preserve the designed formation, and the proposed method has a high feasibility.

Key words: autonomous underwater vehicles (AUVs) formation, sensor measuring system, leader-follower method

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