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Formation control is a basic problem in cooperation of multiple autonomous underwater vehicles (AUVs). To address this problem, we proposed a control method under fixed interconnection topology. In our algorithm, each AUV has two competitive objectives, one is following a predefined path, and another is to maintain a geometric configuration with its neighbors. Based on this, we defined the system...
An obstacle avoiding control strategy for autonomous underwater vehicle (AUV) was proposed. According to the task of AUV, a variable structure control law was proposed for path following firstly. When AUV track the desired path, taking a looking forward sonar as the measuring instrument, a fuzzy inference system (FIS) was designed to derive the obstacle-avoiding angle based on the position relationship...
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