Debabrata Atta and Bidyadhar Subudhi
Formation control, leader–follower, graph theory, optimization
This paper presents a directed distance-based leader–follower formation control of multiple autonomous underwater vehicles (AUVs). Unlike most conventional approaches, such as consensus-based method, virtual structure strategy, behaviour-based method; this work exploits a graph based model for formation with a minimally persistent property (no edge can be removed without losing its persistence). Each vertex of the graph represents centre of mass (CoM) of AUV and each of the directed edge between CoMs represents the distance constraint maintained by a follower AUV from its neighbouring leader AUV. For ensuring collision avoidance, path of each AUV is optimized based on desired distances to be maintained by it from its neighbours. The optimized path corresponds to shortest path between current and future position of an AUV. Control torque and force for each AUV can be generated by using the computed values of translational and angular velocities with help of sensors’ data and using AUV dynamics.
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