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This paper proposes an index system for the formation performance evaluation of multiple autonomous underwater vehicles (multi-AUV) in deep-sea hydrothermal plume exploration. Firstly the formation evaluation criteria and the essentiality of the application of analytic hierarchy process (AHP) and Fuzzy comprehensive evaluation method (Fuzzy-AHP method) are introduced. Then the index system is established...
In order to resolve the formation tracking problem of cooperative control of multiple Autonomous Underwater Vehicles (AUVs), a variable structure control law was proposed to keep the AUVs track along the predefined trajectory by minimizing the cross track error, which is calculated from the line-of-sight angle. Furthermore, a mathematical model for the formation based on leader-follower was established...
In this paper, we investigate the leader-follower formation control of underactuated autonomous underwater vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov...
As autonomous underwater vehicles universally establish themselves as invaluable tools to provide unprecedented results in a variety of scientific, industrial and naval scenarios, the focus of development is gradually shifting towards considering the operation of multiple cooperating vehicles. There is widespread consensus on that despite the added complexity of having to operate several vehicles,...
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