Design of coordinated path following controller for multiple autonomous underwater vehicle considering obstacles and collision avoidance

In this paper the problem of coordinated path following for a group of Autonomous Underwater Vehicle (AUV) subjected to obstacle and collision avoidance is considered. At first a back stepping controller is used for an AUV to design a path following controller and its stability is examined via Lyapu...

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Bibliographic Details
Main Authors: Hassan Sayyaadi, Iman Ghasemi
Format: Article
Published: Iranian Association of Naval Architecture and Marine Engineering 2017-01-01
Series:نشریه مهندسی دریا
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