This paper summarizes the latest research progress in the field of motion control of autonomous underwater vehicles (AUVs), focusing on three core technologies: path following, trajectory tracking and multi-AUV formation control. Aiming at the external disturbances faced by AUVs performing tasks in complex marine environments as well as the system’s own inherent nonlinearities, model uncertainties, and physical constraints, it analyzes the advantages and shortcomings of the traditional control methods and intelligent control strategies in terms of improving the tracking accuracy, enhancing the robustness of the system, and realizing the cooperative operation. Recent advances in distributed control and multi-AUV cooperative operations, including leader–follower, consistency control, virtual structure and behavior control, and other formation control strategies, are also discussed. Finally, the future development trend of AUV control technology is outlooked, pointing out that intelligent control, multi-sensor fusion navigation, and distributed synergy will become an important direction to enhance the operational capability and adaptability of AUVs. This review aims to provide theoretical references and technical support for AUV applications in the fields of marine resource exploration and environmental monitoring.
A Review of Path Following, Trajectory Tracking, and Formation Control for Autonomous Underwater Vehicles
2025
Article (Journal)
Electronic Resource
Unknown
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