Leader-Follower Formation Control Characteristics with Dynamic Way Point on Cruising AUVs

Abstract

The navigation situation and its results from National Maritime Research Institute cruising autonomous underwater vehicles (AUVs) with formation control are presented in this paper. The AUV navigation is assumed by a control on leader-follower formation applicable to various underwater measurements. The navigation order as dynamic waypoints for AUV communication is modeled by a graph theory while being easily modified to suit the purpose. In this paper, the effectiveness and impact of the waypoint indication intervals from a leader AUV to a follower AUV are clarified in assuming to conduct undersea exploration based on the navigational performance of an actual AUV.