The AUV-Follower Control System Based on the Prediction of the AUV-Leader Movement Using Data from the Onboard Video Camera

Abstract

The paper proposes a new method for the synthesis of spatial motion control systems of the AUV-leader and a group of AUV-followers during their cooperative movement in a desired formation. This system allows the provision of an accurate positioning of the followers relative to the leader using information received with a low frequency only from their onboard video cameras. To improve the accuracy of the created system it proposes a method of estimation of the parameters of the movement of the AUV-leader (its speeds and accelerations) to predict its movement relative to the AUV-follower in the time intervals between the updates of information received from video cameras.