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Research on framework for formation control of multiple underwater robots in a dynamic environment

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Abstract

In this paper a practical framework is proposed to keep formation control of multiple underwater robots in a dynamic environment. The approach is a viable solution to solve formation problem. The approach allows online planning of the formation paths using a Dijkstra’s search algorithm based on the current sensor data. The formation is allowed to be dynamically changed in order to avoid obstacles in the environment. A controller is designed to keep the robots in their planned trajectories. It is shown that the approach is effective and feasible by the simulation of computer.

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Harbin Engineering University, 150001, Harbin, China

    Meng Xian-song, Xu Hong-gen & Zhang Ming-jun

Authors
  1. Meng Xian-song
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  2. Xu Hong-gen
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  3. Zhang Ming-jun
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Additional information

Supported by the Research Fund for the Doctoral Program from the Ministry of Education (20020217005) and by Natural Science Foundation of Heilongjiang Province (F0308)

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Meng, Xs., Xu, Hg. & Zhang, Mj. Research on framework for formation control of multiple underwater robots in a dynamic environment. J. Marine. Sci. Appl. 3, 36–41 (2004). https://doi.org/10.1007/BF02894331

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  • DOI: https://doi.org/10.1007/BF02894331

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