A Survey on Formation Control Algorithms for Multi-AUV System

With the development of autonomous underwater vehicle (AUV) application techniques, formation control of multiple AUVs becomes a worldwide research focus. In this paper, first, formation control methods are summarized as: virtual structure method, behavior-based method, leader–follower method and artificial potential field method. Second, the peculiarities and difficulties of formation control especially for multi-AUV system are analyzed based on the research and development status in this area. The critical technical problems are summarized into three aspects: problem of AUV's dynamic complexity; problem of environmental complexity; problem of severe underwater communication constraints. Finally, the major development trends of multi-AUV system are discussed.