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Obstacle Avoidance for a Swarm of AUVs

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Smart Technologies for Power and Green Energy

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 443))

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Abstract

This paper uses the bioinformatics-inspired technique for guiding a team of autonomous underwater vehicles (AUVs) towards the desired destination. Here, each AUV estimates the position of the neighbour AUVs while moving towards the destination. The proposed multi-AUV system constitutes a leader AUV and three follower AUVs. A distributed path consensus (DPC) is proposed that determines the distance constraint to ensure the neighbouring agent AUVs maintain a predefined distance between each other and are able to avoid static obstacles while moving towards the respective destinations. It is observed from MATLAB simulation that the co-operative motion control of multiple AUVs along the desired paths and obstacle avoidance is successively achieved. The proposed method solves coordination problems among multiple AUVs and increases the coverage of underwater missions like oceanographic surveys.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, VSS University of Technology, Burla, Odisha, India

    Sarada Prasanna Sahoo & Bibhuti Bhusan Pati

  2. Department of Electronics & Telecommunication Engineering, VSS University of Technology, Burla, Odisha, India

    Bikramaditya Das

  3. School of Electrical Engineering, KIIT DU, Bhubaneswar, Odisha, India

    Rudra Narayan Dash

Authors
  1. Sarada Prasanna Sahoo
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  2. Bikramaditya Das
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  3. Bibhuti Bhusan Pati
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  4. Rudra Narayan Dash
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Corresponding author

Correspondence to Bikramaditya Das .

Editor information

Editors and Affiliations

  1. School of Electrical Engineering, KIIT University, Bhubaneswar, India

    Rudra Narayan Dash

  2. Concordia University, Montreal, QC, Canada

    Akshay Kumar Rathore

  3. Khalifa University, Abu Dhabi, United Arab Emirates

    Vinod Khadkikar

  4. School of Electrical Engineering, KIIT University, Bhubaneswar, India

    Ranjeeta Patel

  5. Department of Electrical and Electronics Engineering, ITER, Siksha ‘O’ Anusandhan, Bhubaneswar, India

    Manoj Debnath

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Sahoo, S.P., Das, B., Pati, B.B., Dash, R.N. (2023). Obstacle Avoidance for a Swarm of AUVs. In: Dash, R.N., Rathore, A.K., Khadkikar, V., Patel, R., Debnath, M. (eds) Smart Technologies for Power and Green Energy. Lecture Notes in Networks and Systems, vol 443. Springer, Singapore. https://doi.org/10.1007/978-981-19-2764-5_34

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  • DOI: https://doi.org/10.1007/978-981-19-2764-5_34

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-2763-8

  • Online ISBN: 978-981-19-2764-5

  • eBook Packages: EngineeringEngineering (R0)

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