Formation Control of a Multi-Autonomous Underwater Vehicle Event-Triggered Mechanism Based on the Hungarian Algorithm

Abstract

Among the key technologies of Autonomous Underwater Vehicle (AUV) leader–follower formations control, formation reconfiguration technology is one of the main technologies to ensure that multiple AUVs successfully complete their tasks in a complex operating environment. The biggest drawback of the leader–follower formations technology is the failure of the leader and the excessive communication pressure of the leader. Aiming at the problem of leader failure in multi- AUV leader–follower formations, the Hungarian algorithm is used to reconstruct the failed formation with a minimum cost, and the improvement of the Hungarian algorithm can solve the problem of a non-standard assignment. In order to solve the problem of an increased leader communication task after formation reconfiguration, the application of an event-triggered mechanism (ETM) can reduce unnecessary and useless communication, while the efficiency of the ETM can be improved through increasing the event-triggered conditions of the sampling error threshold. The simulation results of multi-AUV formation control show that the Hungarian algorithm proposed in this paper can deal with the leader failure in the multi-AUV leader–follower formation, and the ETM designed in this paper can reduce about 90% of the communication traffic of the formation which also proves the highly efficient performance of the improved ETM in the paper.