Motion planning for multi-HUG formation in an environment with obstacles

Hybrid-driven underwater glider (HUG) is a new type of autonomous underwater vehicles (AUVs). An HUG fleet can extend the ability of individual vehicles and increase mission efficiency. This paper presents motion planning and obstacle avoidance of multi-HUG formation using the artificial potential field (APF) method and Kane's method. The artificial potential fields used for formation motion control are constructed for particular mission requirement, ocean environment, and formation geometry. Multi-HUG formation with the artificial potential fields is regarded as a multibody system, in which HUGs are constrained by the virtual forces derived from the artificial potential fields. Kane's method for dynamic analysis of multibody systems is used to study the dynamic characteristics of motion of the multi-HUG formation. Combination of the APF method and Kane's method offers the advantage that coordinated control and motion planning of the formation can be implemented simultaneously. A case of a three-HUG formation is provided to demonstrate the methodology for clarity.

► Motion planning and obstacle avoidance are performed for a multi-HUG formation.
► Multi-HUG formation is modeled as a multibody system.
► The artificial potential field method is used for formation control.
► Kane's method is used for dynamic analysis.
► Coordinated control and motion planning are simultaneously implemented.