Formation control and obstacle avoidance of Multi-AUV for 3-D underwater environment

摘要：

　　Leader-follower formation control of Autonomous Underwater Vehicle is studied in this paper,and a three-dimensional formation control and obstacle avoidance method of multi-AUV is presented,which is based on back stepping control and biological inspired neural network model.The follower tracks the virtual AUV,during which the back stepping control method is lead up to realize three dimensional underwater formation control.To avoid obstacles and come through the obstacles area,the biological inspired neural network model is used to transform the formation of the AUV.Simulation results show that the presented algorithm achieve the expected control effect,and verify the validity and the practicability of the algorithm.

关键词： leader-follower AUV back stepping control obstacle avoidance biological inspired neural network

作者: DING Guohua ZHU Daqi SUN Bing

作者单位: Laboratory of Underwater Vehicles and Intelligent Systems,Shanghai Maritime University,Shanghai,201306

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8347-8352

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）