Multi-AUV Formation Reconfiguration Obstacle Avoidance Algorithm Based on Affine Transformation and Improved Artificial Potential Field Under Ocean Currents Disturbance

In this paper, the formation obstacle avoidance problem of autonomous underwater vehicles (AUVs) under the disturbances of ocean currents is studied. A variable formation reconfiguration and obstacle avoidance control scheme based on affine transform and the improved artificial potential field (AT-I...

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Veröffentlicht in:	IEEE transactions on automation science and engineering Jg. 21; H. 2; S. 1469 - 1487
Hauptverfasser:	Pang, Wen, Zhu, Daqi, Sun, Changyin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.04.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	affine transformation Affine transformations Algorithms Autonomous underwater vehicles autonomous underwater vehicles (AUVs) Bionics Collision avoidance Control methods Control theory Experiments Feasibility Fish Formation control Formation obstacle avoidance Heuristic algorithms improved artificial potential field Liapunov functions Mathematical models Obstacle avoidance Ocean currents ocean currents disturbance Oceans Potential fields Reconfiguration Robots Stability static and dynamic obstacles Time varying control Topology Ultrawideband Underwater communication Unmanned aerial vehicles Unmanned ground vehicles
ISSN:	1545-5955, 1558-3783
Online-Zugang:	Volltext
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