Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3)
To address the control challenges posed by increasingly complex mission scenarios, this paper aims to develop an advanced formation control and obstacle avoidance strategy for autonomous underwater vehicles (AUVs) in SE(3). This study establishes a dynamic model for fully actuated AUVs and designs a...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/12/2350 |
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| author | Qingzhe Zhen Lei Wan Yuansheng Zhang Dapeng Jiang |
| author_facet | Qingzhe Zhen Lei Wan Yuansheng Zhang Dapeng Jiang |
| author_sort | Qingzhe Zhen |
| collection | DOAJ |
| description | To address the control challenges posed by increasingly complex mission scenarios, this paper aims to develop an advanced formation control and obstacle avoidance strategy for autonomous underwater vehicles (AUVs) in SE(3). This study establishes a dynamic model for fully actuated AUVs and designs a consensus-based formation control strategy to achieve coordinated movement. Motivated by limitations of existing obstacle avoidance strategies such as local minima issues and mutual interference between formation members in high-density environments, this paper introduces a novel gyroscopic force-based obstacle avoidance method. The proposed approach leverages the principles of rotation and angular momentum conservation to enable effective obstacle avoidance while maintaining formation integrity. Simulation results demonstrate the effectiveness of the proposed methodology in achieving robust formation control and collision avoidance under challenging conditions. |
| format | Article |
| id | doaj-art-3859e95f4500469dbe9c0534cda41ac5 |
| institution | DOAJ |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-3859e95f4500469dbe9c0534cda41ac52025-08-20T02:57:02ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011212235010.3390/jmse12122350Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3)Qingzhe Zhen0Lei Wan1Yuansheng Zhang2Dapeng Jiang3National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, ChinaSouthern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai 519000, ChinaSchool of Marine Engineering and Technology, Sun Yat-sen University, Zhuhai 519082, ChinaTo address the control challenges posed by increasingly complex mission scenarios, this paper aims to develop an advanced formation control and obstacle avoidance strategy for autonomous underwater vehicles (AUVs) in SE(3). This study establishes a dynamic model for fully actuated AUVs and designs a consensus-based formation control strategy to achieve coordinated movement. Motivated by limitations of existing obstacle avoidance strategies such as local minima issues and mutual interference between formation members in high-density environments, this paper introduces a novel gyroscopic force-based obstacle avoidance method. The proposed approach leverages the principles of rotation and angular momentum conservation to enable effective obstacle avoidance while maintaining formation integrity. Simulation results demonstrate the effectiveness of the proposed methodology in achieving robust formation control and collision avoidance under challenging conditions.https://www.mdpi.com/2077-1312/12/12/2350multi-AUVformation controlconsensus controlgyroscopic force obstacle avoidance |
| spellingShingle | Qingzhe Zhen Lei Wan Yuansheng Zhang Dapeng Jiang Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3) Journal of Marine Science and Engineering multi-AUV formation control consensus control gyroscopic force obstacle avoidance |
| title | Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3) |
| title_full | Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3) |
| title_fullStr | Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3) |
| title_full_unstemmed | Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3) |
| title_short | Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3) |
| title_sort | consensus based formation control and gyroscopic obstacle avoidance for multiple autonomous underwater vehicles on se 3 |
| topic | multi-AUV formation control consensus control gyroscopic force obstacle avoidance |
| url | https://www.mdpi.com/2077-1312/12/12/2350 |
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