Triangle Formation Control of Multi-AUVs with Communication Constraints

Abstract

Aimed at solving the problem of multi-AUVs formation control, an analysis has been made on a triangle formation based on leader-follower construction, with a multi-AUVs formation controller designed with communication constraints taken into account. The desired velocity of the follower is the resultant velocity of three component velocities, each of which has different function. The convergence of the proposed controller is proved by establishing an objective function that can represents the status of the formation. Simulation experiments are carried out to demonstrate the proposed controller is effective.