Abstract
In this paper, a formation control problem of eight Autonomous underwater vehicles (AUVs) is addressed using multi-agent system (MAS) concept. The proposed MAS of AUVs constitute of a virtual leader and eight follower AUVs. Each follower AUV represents an agent connected by a communication network and assumes full communication without delay. The formation control of multi-AUV system deals with controlling positions and heading angles of AUVs using Jacobian theory and methods of geometric reduction to achieve an octagonal shape. The underwater environment is modelled as a two-dimensional grid. The AUV motion dynamics are modelled assuming 3 degree-of-freedom neglecting heave and sway motions. The surge and yaw inputs are used as control inputs for the controller. The proposed controller maintains the octagonal geometry while approaching the target. This research can be helpful in solving formation control problem for applications such as oceanographic survey.
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We acknowledge the help and facilities provided by the department of “Electronics and Telecommunication Engineering” and “TEQIP-III cell of Veer Surendra Sai University of Technology, Burla, Odisha, India”.
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Panda, M., Das, B. (2021). Multi-agent System of Autonomous Underwater Vehicles in Octagon Formation. In: Udgata, S.K., Sethi, S., Srirama, S.N. (eds) Intelligent Systems. Lecture Notes in Networks and Systems, vol 185. Springer, Singapore. https://doi.org/10.1007/978-981-33-6081-5_12
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DOI: https://doi.org/10.1007/978-981-33-6081-5_12
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