Research on Non-collision Coordination Control Technology for Formation Autonomous Underwater Vehicle

In view of the risk of collision among intelligent bodies in autonomous underwater vehicles (AUVs) formation navigation, a non-collision and coordination control technology of autonomous underwater vehicle is proposed in this thesis, which includes the integration of various basic behaviors such as formation coordination control and non-collision strategy. First of all, the path tracking control technology based on cascade method and the coordination control method of parameter consistency are used to ensure the asymptotical stability of tracking error. And then, the collision avoidance strategy of HRVO algorithm is adopted so that AUVs can avoid the collision risk of common obstacles and other AUVs simultaneously. The simulation results show that the AUV formation with noncollision and coordination control technology can quickly converge to the respective reference paths and maintain the coordination of formation while avoiding collision risk.