Consensus-Based Formation Control and Gyroscopic Obstacle Avoidance for Multiple Autonomous Underwater Vehicles on SE(3)

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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Bibliographic Details
Main Authors: Qingzhe Zhen, Lei Wan, Yuansheng Zhang, Dapeng Jiang
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Journal of Marine Science and Engineering
Subjects:
multi-AUV
formation control
consensus control
gyroscopic force obstacle avoidance
Online Access:https://www.mdpi.com/2077-1312/12/12/2350
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