Work

RG-SAPF: A Scheme for Cooperative Escorting of Underwater Moving Target by Multi-AUV Formation Systems Based on Rigidity Graph and Safe Artificial Potential Field

Year: 2025

Type: article

Abstract: This paper addresses the challenge of cooperatively escorting a moving underwater target, such as a human-occupied vehicle (HOV), using a multi-AUV formation in complex ocean environments. We propose a comprehensive framework, RG-SAPF scheme, that integrates a rigidity graph (RG)-based reconfigurable formation control strategy with a safe artificial potential field (SAPF) motion planning method. The RG-based controller enables the AUVs to form and dynamically reconfigure a 3D escort formation around the target using only relative position information, ensuring the target remains within the formation's convex hull. Meanwhile, the SAPF algorithm, enhanced with an adaptive Widrow-Hoff rule, enables real-time and collision-free path planning in obstacle-rich environments. Simulation and experimental results demonstrate that the proposed method effectively maintains formation integrity, supports flexible obstacle avoidance, and provides continuous target escort under dynamic conditions, validating its potential for practical underwater escort applications.

Source: Sensors

DOI: 10.3390/s25226823

Authors: Wen Pang, Daqi Zhu, Mingzhi Chen, Wentao Xu

Institutions: University of Shanghai for Science and Technology, Shanghai Maritime University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funders: National Natural Science Foundation of China, China Postdoctoral Science Foundation