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Volume 17 Issue 1
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2009  >  17(1): 010-13
LIU Li, HUANG Wen-ling. Fuzzy Control of Formation Coordination for Multiple AUVs[J]. Journal of Unmanned Undersea Systems, 2009, 17(1): 010-13. doi: 10.11993/j.issn.1673-1948.2009.01.003
Citation: LIU Li, HUANG Wen-ling. Fuzzy Control of Formation Coordination for Multiple AUVs[J]. Journal of Unmanned Undersea Systems, 2009, 17(1): 010-13. doi: 10.11993/j.issn.1673-1948.2009.01.003
shu

Fuzzy Control of Formation Coordination for Multiple AUVs

doi: 10.11993/j.issn.1673-1948.2009.01.003

  • Department of Weaponry Engineering,Naval University of Engineering,Wuhan 430033,China

  • Received Date: 2008-10-06
  • Rev Recd Date: 2008-10-19
  • Publish Date: 2009-02-28
    Abstract
  • Based on the method of leader-follower in formation control and the kinematic characteristics, a fuzzy control approach is presented for obstacle avoidance of multiple autonomous underwater vehicle (AUV) formation under different underwater environment. This fuzzy control approach adopts the geometric relations of formation and introduces a virtual AUV to make the formation pass obstacles and arrive at destination. The formation system can keep initial formation shape or change formation shape according to the information of the obstacles in the sea. Simulation result demonstrates the effectiveness of the presented approach.

     

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