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JRM Vol.36 No.2 pp. 449-457
doi: 10.20965/jrm.2024.p0449
(2024)

Paper:

Development of Formation Control System for Multiple AUVs with Sonar Interference Avoidance Function

Akihiro Okamoto ORCID Icon, Masahiko Sasano ORCID Icon, Kangsoo Kim ORCID Icon, and Toshifumi Fujiwara ORCID Icon

Offshore Advanced Technology Department, National Maritime Research Institute, National Institute of Maritime, Port and Aviation Technology
6-38-1 Shinkawa, Mitaka, Tokyo 181-0004, Japan

Received:
August 5, 2023
Accepted:
January 3, 2024
Published:
April 20, 2024
Keywords:
autonomous underwater vehicle (AUV), autonomous surface vehicle (ASV), formation control system
Abstract

Although research has been conducted on the simultaneous operation of multiple autonomous underwater vehicles (AUVs) to improve the efficiency of oceanographic surveys, it has become clear that sonar interference occurs between AUVs that are in close proximity. In this study, a formation control system was developed for actual operation at sea, based on the assumption of an operational system with an autonomous surface vehicle (ASV) and multiple AUVs. A control algorithm was implemented to maintain the AUVs within the desired range of the ASV, ensure communication, and avoid sonar interference by sending commands to increase or decrease the speed of the AUVs. Simulations were performed to verify the effectiveness of the developed method for the operation of one ASV and 10 AUVs. Evaluation scores for the distance between vehicles were introduced to quantify the effectiveness of the algorithm. The proposed method obtained the highest scores for formation control in the assumed operational scenarios. This confirms the effectiveness of the proposed method in avoiding the side-by-side relationships that cause sonar interference.

Method of preventing side-by-side relationships for AUVs

Method of preventing side-by-side relationships for AUVs

Cite this article as:
A. Okamoto, M. Sasano, K. Kim, and T. Fujiwara, “Development of Formation Control System for Multiple AUVs with Sonar Interference Avoidance Function,” J. Robot. Mechatron., Vol.36 No.2, pp. 449-457, 2024.
Data files:
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Last updated on Nov. 04, 2024