Integrated scenarios of formation tracking and collision avoidance of multi-vehicles

In this paper, we study the integrated scenarios of formation tracking, collision avoidance and obstacle avoidance of multiple unmanned underwater vehicles (UUV). It is assumed that the communication graph is directed and connected. The desired formation shape that is created is maintained and follow the trajectory by the consensus algorithm while the potential function is addressed for a collision avoidance. During following the trajectory, the Bézier curve is used for make a new trajectory to avoid obstacles. The effectiveness of the scenario is verified by a numerical simulation.