The Virtual Potential Field Method as a Tool for Formation Guidance of AUVs

M. Barisic, Z. Vukic, and N. Miskovic (Croatia)


Autonomous mobile robots, Trajectory planning, Gradients, Obstacle avoidance, Co-ordination


This paper deals with the modifications of a kinematics based trajectory planner for an AUV, assuring cruising in formation. Analysis is performed by means of MATLAB simulation. The method presented in authors’ previous work [1, 2, 3] is redesigned, with an algorithm assigning virtual waypoints / virtual leaders for an AUV to follow in order to cruise in formation with other AUVs added.

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