Coordinated Obstacle Avoidance of Multi-AUV Based on Improved Artificial Potential Field Method and Consistency Protocol

Yu, Haomiao; Ning, Lipeng

doi:10.3390/jmse11061157

Cited by 12 publications

(4 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For this problem, Yu et al introduced the auxiliary potential field perpendicular to the direction of AUV motion, and proposed a coordination formation obstacle avoidance control algorithm based on improved artificial potential field method and consensus protocol to solve the formation avoidance problem of multi-AUV systems. 55 It should be pointed out that the problem of local optimal solution for artificial potential field function has not been completely solved so far. The behavioral method: In this method, the system tasks are divided into a series of behaviors, such as running toward the target, keeping formation, avoiding obstacles, and keeping formation, and the formation control of multi-AUV systems is realized through behavior fusion.…”

Section: Formation Control Of Multi-auv Systemsmentioning

confidence: 99%

“…It should be noted that although the artificial potential field function can solve the problem of collision avoidance in formation, it is easy to fall into the problem of local optimal solution in optimization and expected path planning. For this problem, Yu et al introduced the auxiliary potential field perpendicular to the direction of AUV motion, and proposed a coordination formation obstacle avoidance control algorithm based on improved artificial potential field method and consensus protocol to solve the formation avoidance problem of multi‐AUV systems 55 . It should be pointed out that the problem of local optimal solution for artificial potential field function has not been completely solved so far.…”

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

“…The bedrock of consistency theory lies in the cultivation of synchronized motion and seamless coordination among quadrotors. As a result, it profoundly enhances the efficiency and effectiveness of multi-quadrotor systems across a diverse spectrum of applications [33].…”

Section: Introductionmentioning

confidence: 99%

Coordinated Control of Quadrotor Suspension Systems Based on Consistency Theory

Chen,

Fan,

Wang

et al. 2023

Aerospace

View full text Add to dashboard Cite

This paper designs a cooperative control method for the multi-quadrotor suspension system based on consistency theory and realizes the cooperative formation trajectory tracking control of the multi-quadrotor suspension system by designing a consistent formation cooperative algorithm of virtual piloting and a nonlinear controller. First, a new quadrotor suspension system model is established based on the traditional quadrotor model using the Newton–Euler method. This model can accurately reflect the influence of the load on the quadrotor while obtaining the swing of the load. Then, the vertical and horizontal positions are designed separately based on the quadrotor motion characteristics, and the formation algorithm based on the virtual pilot consistency theory ensures that the final convergence of each position is consistent. An integral backstepping controller and an integral backstepping sliding mode controller are designed for quadrotor position, attitude, and load swing control to achieve accurate and fast quadrotor trajectory tracking control while reducing load swing. The stability of all the controllers is demonstrated using Lyapunov functions. Finally, a multi-quadrotor suspension system formation cooperative simulation experiment is designed to verify the designed control method.

show abstract

“…In the process of formation transformation, the ability to avoid obstacles is essential for the UUV group [27][28][29]. This is due to the lack of prior knowledge of the environment in the process of UUV group performing tasks, so obstacles may appear in the path planned in advance.…”

Section: Introductionmentioning

confidence: 99%

Formation Transformation Method for UUV Group to Approach a Static Target

Yin,

Yan,

Hou

2023

JMSE

View full text Add to dashboard Cite

The unmanned underwater vehicle (UUV) group composed of UUVs carrying different kinds of detection equipment is powerful for underwater target searching and detection. In this paper, a formation transformation method, used while the mission of the UUV group transformed from searching to detecting, is proposed. Firstly, a new formation transformation strategy, in which the UUVs converged to their detection points followed by the aggregation points achieved, is proposed to improve the safety of UUVs during transformation. Following the proposed strategy, particle swarm optimization is employed to find the optimal aggregation points. Finally, possible collisions between UUVs and collisions between UUVs and targets are avoided by adding a collision avoidance algorithm based on a virtual torque field. The model prediction is used to solve the delay problem of underwater communication, and the communication results are used to correct the model prediction results. The test shows that the method is effective. The effectiveness of the proposed method is demonstrated using two simulation examples.

show abstract

Coordinated Obstacle Avoidance of Multi-AUV Based on Improved Artificial Potential Field Method and Consistency Protocol

Cited by 12 publications

References 29 publications

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Coordinated Control of Quadrotor Suspension Systems Based on Consistency Theory

Formation Transformation Method for UUV Group to Approach a Static Target

Contact Info

Product

Resources

About