Multi-AUV Formation Control Based on Combination of Artificial Potential Field and Virtual Structure

In complex underwater environments, traditional autonomous underwater vehicle (AUV) formation control algorithms are faced with many challenges in solving collision avoidance and reducing energy consumption. To solve this problem, an AUV clusters formation control algorithm based on mobility prediction is proposed in this paper. First, a virtual structure is constructed to organize the formation. The cluster constructs a optimal rigid graph according to the location of AUVs in the virtual structure and used as communication link. Then AUVs use an attractive potential function to track the desired trajectory of a virtual structure, so as to solve the problem of insufficient organization ability of artificial potential field. Meanwhile, collision avoidance is realized through the repulsive potential function. Finally, to reduce the energy consumption of AUVs, this paper adopts scalable localization with mobility prediction(SLMP). Simulations show that the AUVs are able to form the desired formation, and the collision among AUVs and obstacles can be avoided, and the cluster has low energy consumption during the movement.