Multiple Autonomous Underwater Vehicle Formation Obstacle Avoidance Control Using Event-Triggered Model Predictive Control

Multiple Autonomous Underwater Vehicle Formation Obstacle Avoidance Control Using Event-Triggered Model Predictive Control

In this paper, multiple autonomous underwater vehicle (multi-AUV) formation control with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. Firstly, multi-AUV motion model systems are developed. The navigation ref...

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Bibliographic Details
Main Authors:	Linling Wang, Xiaoyan Xu, Bing Han, Huapeng Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2023-10-01
Series:	Journal of Marine Science and Engineering
Subjects:	event triggered leader-follower multi-AUV MPC obstacle avoidance
Online Access:	https://www.mdpi.com/2077-1312/11/10/2016

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