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Robust Formation Control for Multiple Underwater Vehicles.

Charalampos P Bechlioulis1, Fotis Giagkas1, George C Karras1,2

  • 1School of Mechanical Engineering, National Technical University of Athens, Athens, Greece.

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|January 27, 2021
PubMed
Summary

This study presents a decentralized control method for Autonomous Underwater Vehicles (AUVs) to achieve fast and accurate formations. The system enables AUVs to maintain distances and relative positions for tasks like seabed scanning without explicit communication.

Keywords:
autonomous underwater vehiclesdecentralized controldistance-based formationmulti-agent systemsprescribed performance control

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Area of Science:

  • Robotics and Control Systems
  • Autonomous Underwater Vehicles (AUVs)
  • Multi-agent Systems

Background:

  • Formation control is crucial for coordinated multi-AUV operations, such as environmental monitoring and seabed mapping.
  • Existing methods often require complex communication or centralized control, limiting scalability and robustness.
  • Decentralized approaches are needed for AUVs to maintain formations using only local information.

Purpose of the Study:

  • To develop a decentralized, distance-based formation control protocol for leader-follower AUV systems.
  • To achieve arbitrarily fast and accurate formation establishment with minimal complexity.
  • To enable relative localization and collision avoidance among AUVs.

Main Methods:

  • A decentralized control protocol is proposed, calculating control signals based on neighbor positions and own velocity.
  • The method relies solely on onboard sensor data, eliminating the need for explicit network communication.
  • A leader-AUV tracks a trajectory, while follower-AUVs establish a predefined formation relative to neighbors.

Main Results:

  • The proposed protocol successfully achieves prescribed formation structures with high accuracy and speed.
  • The decentralized approach ensures robustness and scalability for multi-AUV systems.
  • Simulation results with five AUVs performing seabed scanning validate the theoretical findings.

Conclusions:

  • The developed decentralized control strategy effectively addresses the distance-based formation control problem for AUVs.
  • The method's reliance on local information and minimal complexity makes it suitable for practical AUV applications.
  • This approach enhances the capability of AUV teams for complex underwater tasks like coordinated surveying.