Applications for Autonomous Control of Multiple AUVs Toward Deep-Sea Resource Explorations

This study tested autonomous control of multiple AUVs using two hovering AUVs at a depth of 80 to 90 m water area in Lake Biwa by implementing AUV-AUV communication and AUV-AUV positioning. The tests were successfully conducted with two AUVs navigating autonomously in 1) formation, 2) holding both ends of the horizontal cable, and 3) approaching an underwater acoustic lighthouse, while minimizing information and commands from the mother vessel.