The method of path planning for AUV-group moving in desired formation in unknown environment with obstacles
Vladimir Filaretov, Dmitry Yukhimets · IFAC-PapersOnLine · 2020
The paper proposes a new method for trajectory formation of the AUVs group in “leader-follower” mode in the given formation in the unknown environment containing obstacles. In this mode, the AUV-leader defines the motion trajectory at the safe distance from the detected obstacles in accordance with the given mission. The AUVs-followers follow the leader and during obstacles avoidance they move along set in advance trajectories within the formation to ensure the safe distance between the AUVs-followers. In addition, the motion of the AUVs-followers along the predetermined trajectories allows to avoid additional data exchange between the AUVs with a view to match their positions.