Fuzzy separation potential function based flocking control of multiple AUVs

In this paper, we present a flocking control algorithm for a group of autonomous underwater vehicles (AUVs) using the leader-follower concept. Leader vehicle have global knowledge of desired trajectory and other AUVs are chosen as followers which are mounted with sensors to estimate the positions of neighbor AUVs. The follower vehicles have no knowledge of desired path. There is a flocking center is estimated to keep all AUVs connected in group. This flocking center is a virtual point whose position can be calculated by applying consensus algorithm. The controller for the leader and follower AUVs are designed using fuzzy variable based artificial potential functions. The efficacy and accuracy of the developed controller is verified through simulation studies considering four AUVs flocking in a group.