Obstacle Avoiding Policy of Multi-AUV Formation Based on Virtual AUV

Based on the local path planning for autonomous underwater vehicle (AUV) with uniform motion, a fuzzy logic control algorithm is adopted for AUV with variable velocity. And based on l - ¿ the formation control method and the geometrical kinematic relation of the formation order, the multi-AUV formation of obstacle avoiding can be translated into the path planning of a virtual AUV. A fuzzy control policy is designed for the virtual AUV to avoid obstacles. Simulation results show that the formation is flexible and can keep away from obstacles by keeping the initial formation shape or changing the formation shape according to obstacle information.