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<p>Path planning and cooperative motion control are critical issues in autonomous underwater vehicles (AUVs), which involve keeping the special formation in a desired path from initial position to final target position. In the complex mission, multi-AUV systems have special advantages in comparison with a single AUV. In this paper, the modified artificial potential field (MAPF) algorithm has been investigated to solve the problem of the cooperative motion control of multi-AUVs in 3D constrained space. In the MAPF algorithm, the local minimum problem of the artificial potential field (APF) is considered. The performance of the MAPF algorithm in cooperative formation control has been investigated in the leader–follower model. This investigation proves the performance of the algorithm to keep the follower AUVs in desired angle and distance with respect to leader AUV. To confirm the proposed algorithm in different conditions, simulation in the MATLAB software has been implemented. The simulation results show the proper performance of the algorithm.</p>

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Modified artificial field method based on leader–follower strategy for multi-AUVs formation control and path planning

  • 期刊论文

  • 发表日期：

    2025年10月22日

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  • Mohammadtaghi Sabet,
  • Hossein Nourmohammadi

摘要

Path planning and cooperative motion control are critical issues in autonomous underwater vehicles (AUVs), which involve keeping the special formation in a desired path from initial position to final target position. In the complex mission, multi-AUV systems have special advantages in comparison with a single AUV. In this paper, the modified artificial potential field (MAPF) algorithm has been investigated to solve the problem of the cooperative motion control of multi-AUVs in 3D constrained space. In the MAPF algorithm, the local minimum problem of the artificial potential field (APF) is considered. The performance of the MAPF algorithm in cooperative formation control has been investigated in the leader–follower model. This investigation proves the performance of the algorithm to keep the follower AUVs in desired angle and distance with respect to leader AUV. To confirm the proposed algorithm in different conditions, simulation in the MATLAB software has been implemented. The simulation results show the proper performance of the algorithm.