장애물회피를 동반한 작동기수가 부족한 자율무인잠수정 그룹의 안정한 대형제어기법

Abstract

This paper presents a stable formation control scheme for multiple autonomous underwater vehicles (AUVs) where the number of independent actuators for each vehicle are less than that of degree of freedom (DOF) of the vehicle’s motion. In many of the formation schemes presented so far, the multiple dynamic agents usually have been modeled as particles whose motions can be expressed as simple second-order linear equations. Therefore, these formation algorithms could not be directly applied to the most of actual systems, typically to the multiple underwater vehicle systems whose dynamics are highly nonlinear. Moreover, the AUVs considered in this paper are underactuated where only surge forces and rudder angles are available for their horizontal motions. For these kinds of multiple underwater vehicles, proposed control scheme can guarantee the stability of the formation and further guarantee that the vehicles asymptotically move with the same velocities and headings while keeping obstacle avoidance. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation scheme.