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A Review of the Path Planning and Formation Control for Multiple Autonomous Underwater Vehicles

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Abstract

Path planning and formation control are two of the most significant concepts which can be considered in multi-vehicle systems and particularly in autonomous underwater vehicles (AUVs). The cooperative implementation of complicated commands would lead to desirable results and increase the probability of success in the missions. Due to the nonlinear dynamics and environmental conditions, the cooperative control of AUVs is a challenging topic. The developments in AUV applications demonstrate the significance of research and development in path planning and formation control. Unlike ground or aerial autonomous vehicles, this field of study has not attracted considerable attention and further exploration is required as a result. The present paper reviews the different structures of formation control in AUVs and discusses their advantages and disadvantages. Besides formation control, the cooperative path planning of AUVs along with the limitations specific to the cooperative structure is taken into consideration in the present study. Moreover, avoiding any obstacle collision and preventing any encounter between group members are considered as critical issues in the formation control and cooperative path planning. Some areas are still open to investigation as implied by the technological suggestions, which will facilitate future research. At the end of the article, a simulated sample is given of the triangular formation path planning for AUVs.

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Source code in Matlab generated during the current study is available from the corresponding author on reasonable request.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol, Iran

    Behnaz Hadi, Alireza Khosravi & Pouria Sarhadi

  2. Department of Mechanical Engineering Science, Faculty of Engineering and Physical Science, University of Surrey, Guildford, UK

    Pouria Sarhadi

Authors
  1. Behnaz Hadi
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  2. Alireza Khosravi
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  3. Pouria Sarhadi
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B.H., A.K., and P.S. contributed to the design and implementation of the research, to the analysis of the results and to the writing of the manuscript.

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Correspondence to Alireza Khosravi.

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Hadi, B., Khosravi, A. & Sarhadi, P. A Review of the Path Planning and Formation Control for Multiple Autonomous Underwater Vehicles. J Intell Robot Syst 101, 67 (2021). https://doi.org/10.1007/s10846-021-01330-4

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