Cooperative Control of AUVs for Obstacle Avoidance Under Trajectory
Zhao Wang, Hongjian Wang, Shuang Huang, Lihui Deng, Dan Yu, Zhenwei Lu · 2024
This research presents a novel approach for implementing cooperative control for obstacle avoidance in Autonomous Underwater Vehicles (AUVs) through the utilization of sonar technology for obstacle detection and position determination. The study establishes a motion model for AUVs and designs an interactive topology structure based on position information using Sonar systems. By integrating sonar-based position detection, the study develops a cooperative control method that enables AUV clusters to achieve coordination and collision avoidance based solely on position information. The proposed method facilitates the coordination of clusters, obstacle avoidance, and task execution, effectively resolving conflicts among these elements while ensuring the maintenance of a safe distance. The efficacy of this method is demonstrated through the successful control of AUV clusters along a specific trajectory, showcasing its capability in achieving cluster coordination and obstacle avoidance.