A Novel Method of Time-Varying Formation Control Based on a Directed Graph for Multiple Autonomous Underwater Vehicles
Source abstract
Abstract
Currently, autonomous underwater vehicles (AUVs) are facing various challenges, rendering multiple-AUV (multi-AUV) formation control a pivotal research direction. The issues surrounding formation control for a multi-AUV system to establish time-varying formations must be investigated. This paper discusses the formation protocol of multi-AUV systems in order to establish the defined time-varying formations. First, when these systems establish formations, the speed of each AUV can be equivalent. After that, consensus-based methods are used to solve the time-varying formation-control problem. The necessary and sufficient process of multi-AUV in achieving time-varying formations is proved. Furthermore, the formula for the time-varying formation center function is provided. Further, we present a protocol law for multi-AUVs to establish time-varying formations. Finally, the theoretical results of a simulation are presented, which validate the formation protocol.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Distributed Control Multi-Agent Systems · Underwater Vehicles and Communication Systems · UAV Applications and Optimization
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Key Laboratory of Marine Robotics, Shenyang 110169, China
Funding
National Key R&D Program of China · Natural Science Foundation of Liaoning Province, China
References (43)
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