The method of path planning for AUV-group moving in desired formation in unknown environment with obstacles

Filaretov, Vladimir; Yukhimets, Dmitry

doi:10.1016/j.ifacol.2020.12.1475

Cited by 6 publications

(5 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Based on this method, Filaretov et al designed a novel path-planning strategy for multi-AUV systems to navigate an unknown environment with obstacles in a desired formation. 58 This strategy enabled the leader AUV to define a movement trajectory based on a given task at a safe distance from the detected obstacle. Subsequently, the follower AUVs move along a preset trajectory in the formation to guarantee a safe distance between them.…”

Section: Formation Control Of Multi-auv Systemsmentioning

confidence: 99%

“…This following is based on the path‐following method, which aims to decompose tasks into the coordinated synchronization of time and path following in space to realize coordinated formation control in multi‐agent systems. Based on this method, Filaretov et al designed a novel path‐planning strategy for multi‐AUV systems to navigate an unknown environment with obstacles in a desired formation 58 . This strategy enabled the leader AUV to define a movement trajectory based on a given task at a safe distance from the detected obstacle.…”

Section: Coordination Control Of Multi‐auv Systemsmentioning

confidence: 99%

See 1 more Smart Citation

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

View full text Add to dashboard Cite

SummaryCoordination control of multiple autonomous underwater vehicles (AUVs) has attracted considerable attention owing to its widespread applications in deep‐sea exploration, marine environment monitoring, regional searches, and detector recovery. In addition, finite‐time control theory is applied to ensure that the system achieves its control goal as soon as possible. To the authors' knowledge, few studies have systematically summarized the finite‐time coordination control of multiple AUV systems. Thus this review aims to systematically and completely introduce the research progress into the coordination control methods for multi‐AUV systems and their combination with finite‐time theory. The primary areas of focus are the research significance, present state, and prospects of coordination control and finite‐time control theory in multiple AUV systems, as well as their applications.

show abstract

Section: Formation Control Of Multi-auv Systemsmentioning

confidence: 99%

Section: Coordination Control Of Multi‐auv Systemsmentioning

confidence: 99%

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

View full text Add to dashboard Cite

show abstract

“…Ref. [12] proposes a new method for trajectory formation of the AUVs group in "leader-follower" mode in the given formation in the unknown environment containing obstacles. To facilitate underwater data collection using AUV, an energy efficient path planning method is designed by [13].…”

Section: Related Workmentioning

confidence: 99%

Coordinated Trajectory Planning for Multiple Autonomous Underwater Vehicles: A Parallel Grey Wolf Optimizer

Wang,

Zhao

2023

JMSE

View full text Add to dashboard Cite

The utilization of unmanned systems has witnessed a steady surge in popularity owing to its tremendous potential for a wide range of applications. In particular, the coordination among multiple vehicle systems has been demonstrated to possess unparalleled efficacy in accomplishing intricate and diverse tasks. In light of this, the present paper delves into the coordinated path planning mission that is accomplished by collaborative efforts amongst multiple Autonomous Underwater Vehicles (AUVs). First, considering the potential threats, arrival time windows, space, and physical constraints for the AUVs, a sophisticated coordinated path planning model is formulated in a 3D environment, serving as a systematic and structured blueprint for the underlying mechanism. Subsequently, the optimization problem is addressed through the incorporation of a restricted initialization scheme and a multi-objective clustering strategy in the proposed methodology. The resulting approach leads to the development of the Parallel Grey Wolf Optimizer (P-GWO) which exhibits strong global searching abilities and a rapid convergence rate, rendering it a dependable and effective solution. The results demonstrate a 10–15% improvement in convergence rate and a reduction of over 60% in the average cost value compared to reliable references, thus presenting an effective solution for underwater missions with specific requirements.

show abstract

“…In this method, the communication delay is not taken into account. In Filaretov and Yukhimets (2020 ), a new path planning method for the AUV group in the leader–follower mode is proposed, which cannot be used in large formations because of a massive amount of information interaction. In Xia et al (2021a ), a dual closed-loop fast integral terminal sliding mode control method of the AUV group is proposed, which overcomes the problem that the formation tracking errors of the traditional method may not converge to zero in finite time.…”

Section: Introductionmentioning

confidence: 99%

A Formation Control Method for AUV Group Under Communication Delay

Chen

Guo

Luo

et al. 2022

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

This article presents a consistency control algorithm for the autonomous underwater vehicle (AUV) group combined with the leader–follower approach under communication delay. First, the six-degree-of-freedom (DoF) model of AUV is represented, and the graph theory is used to describe the communication topology of the AUV group. Especially, a hybrid communication topology is introduced to adapt to large formation control. Second, the distributed control law is constructed by combining the consensus theory with the leader–follower method. The consistency control algorithms for homogeneous and heterogeneous AUV groups based on the leader–follower approach under communication delay are proposed. Stability criteria are established to guarantee the consensus based on the Gershgorin disk theorem and Nyquist law, respectively. Finally, numerous simulation experiments are carried out to show the effectiveness and superiority of the proposed algorithms.

show abstract

The method of path planning for AUV-group moving in desired formation in unknown environment with obstacles

Cited by 6 publications

References 12 publications

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Coordinated Trajectory Planning for Multiple Autonomous Underwater Vehicles: A Parallel Grey Wolf Optimizer

A Formation Control Method for AUV Group Under Communication Delay

Contact Info

Product

Resources

About