A method of formation transforming for multi-UUVs with autonomous choosing function

In this paper, a new method that applied autonomous choosing function to solve the coordinated control problem of autonomous formation transforming for the multi-UUVs with double independent communication topologies which are used to send position and velocity information is investigated. Firstly, to face the low communication problem of underwater, traditional communication topology is divided into two parts, which are respectively position communication topology and velocity communication. Secondly, we use the oriented graph with weight based on the consensus theory to solve the problems of autonomous decentralization and reorganization during the process of formation transformation. And we also proposed a new kind of coordinated control input with autonomous choosing function for the autonomous transformation of multiple UUVs formation. Finally, we tested the stability and convergence of the controller based on simulation.