Multi-AUV Leader-Follower Formation Control in Obstacle Environment

When obstacles exist in the environment, the follower in a leader-follower formation may collide with the obstacles. To solve this problem, we put forward a multi-AUV leader-follower formation control method for obstacles environment to avoid obstacle by changing multi-AUV formation target, and establish a corresponding mathematical model. For the leader-follower formation control, the underactuated multi-AUV formation control is analyzed based on cascading method. The follower tracking system is decomposed into mutually cascaded position tracking system and heading angle tracking system. The control parameters that make system global uniform and asymptotic stable are de-rived. Simulation results show that the proposed formation control is effective in obstacle avoidance, and the control design can guarantee asymptotic stability of closed loop system.