A novel method for formation control of multiple autonomous underwater vehicles(AUVs)

This paper presents a novel method vehicles which based on conventional Leader-Follower method and Behavior-based method for formation control of multiple autonomous underwater. Leader specifies the moving of the formation and Followers followed Leader to form the desired formation. Behaviors are defined for the vehicles to realize goal reaching,formation maintaining,formation transformation and obstacle avoidance. A special Follower,i.e.,Leader Candidate is designed to make up for the possible failure of the Leader. The fuzzy logic obstacle avoidance planner and Line of Sight guidance law are employed during the moving of the formation.