Affiliation:
1. School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Abstract
This study presents the path-following control design for a group of autonomous underwater vehicles in a plane with obstacle and collision avoidance. A distributed backstepping controller is exploited for an autonomous vehicle to design a path-following controller. Then, the controller is applied for the path-following of a group of autonomous vehicle systems in the formation setting. The graph theory is used to model the interconnection between the vehicles. To avoid obstacles and collisions, a dynamic limit-cycle-based algorithm is proposed. It is assumed that each obstacle is involved an elliptical shape and if the collision or conflict of one vehicle to the surrounded environmental obstacles is detected, the obstacle avoidance algorithm will be active to prevent collisions. Finally, the introduced algorithm is implemented and simulated for a group of underwater autonomous vehicles in MATLAB software. The simulation results illustrate the effectiveness and performance of the proposed distributed controller apparently.