Design of coordinated path following controller for multiple autonomous underwater vehicle considering obstacles and collision avoidance

• Published in: Nashriyyah-i muhandisī-i daryā (Online) Vol. 12; no. 24; pp. 23 - 39
• Main Authors: Hassan Sayyaadi, Iman Ghasemi
• Format: Journal Article
• Language: Persian
• Published: Iranian Association of Naval Architecture and Marine Engineering 01.01.2017
• Subjects: autonomous underwater vehicle; coordinated path following; graph theory; limit cycle; obstacle and collision avoidance

In this paper the problem of coordinated path following for a group of Autonomous Underwater Vehicle (AUV) subjected to obstacle and collision avoidance is considered. At first a back stepping controller is used for an AUV to design a path following controller and its stability is examined via Lyapu...