Obstacle Avoidance Control of Multi-AUV Formation with Third-Order Dynamics Based on IAPF in 3D Environments

In this paper, a formation obstacle avoidance control strategy for multiple autonomous underwater vehicles (AUVs) with third-order dynamics in 3D environments using improved artificial potential field (IAPF) is proposed. Firstly, the third-order system dynamic model of the multi-AUV formation is established. Secondly, the repulsive potential field function in traditional artificial potential field (APF) is redefined to realized obstacle avoidance and reach the target smoothly. Next, the traditional APF is extended from 2D to 3D to satisfy the needs of obstacle avoidance for AUV in 3D environments. Then, the consensus-based method is combined with IAPF to deal with the problem of multi-AUV formation obstacle avoidance control. The consensus of third-order multi-AUV system can achieve convergence of relative distance and speed between AUVs. Additionally, the matrix analysis and Nyquist criterion are adopted to establish the necessary and sufficient condition for consensus. Finally, simulation examples are presented to verify the performance of the proposed theoretical algorithm.