A realistic framework for collaborative control of multiple AUV system with primary experimental results

This paper address the subject of application of MOOS-IvP based framework to collaborative control of multiple autonomous underwater vehicle (MAUV) system developed by groups at harbin engineering university. Firstly, AUV systems that constitute the MAUV system are briefly introduced. The heterogeneous nature of different AUV proposes a challenge for coordination of the system. Secondly, VxWorks version of MOOS-IvP was developed and implemented to our MAUV system, providing a unified solution for collaborative control of the system. Thirdly, hardware in the loop simulation environment was established and typical tasks such as coordinated formation control and coordinated area searching were tested. Sea trial of collaborative control of MAUV system was conducted during 2014 and 2015, some of preliminary results were presented in the last part.