Cooperative Formation of Multi-AUVs for Target Search
Peng Yao, Liyan Qiu, Meiyu Han · 2022
The cooperative formation mode can improve the stability and efficiency of autonomous underwater vehicle (AUV) during target search. Based on the per-planned group trajectory for the target search mission, multiple AUVs are guided to construct a formation as soon as possible and maintain the fixed formation in the subsequent search process. Firstly, the formation model of AUV is constructed by virtual structure, and the formation error is hence calculated. Then, the derivative of formation error is obtained by the tracking differentiator, aiming to further calculate the expected speed and yaw angle of AUV. Based on this, the formation error will converge to zero as soon as possible. The simulation shows the cooperative formation results of multi-AUVs.