A review of path planning and cooperative control for MAUV systems

ZHAO Rui1，XU Jian1，XIANG Xianbo2，XU Guohua2 1 China Ship Development and Design Center，Wuhan 430064，China 2 School of Naval Architecture and Ocean Engineering，Huazhong University of Science and Technology， Wuhan 430074，China

Abstract：The Autonomous Underwater Vehicle（AUV）is an important tool for ocean exploration and the exploitation of underwater resources，which plays important roles in civilian and military fields. Along with the research progress of AUVs，it has become the current development trend to cooperate on completing underwater operations by constructing the Multiple Autonomous Underwater Vehicle（MAUV）system. The MAUV system has important theoretical research significance and practical value for improving the intelligence level of underwater vehicles and developing marine equipment. In this paper，the state of the art of the MAUV is presented from the point of view of practical application and scientific research. The main methods of path planning and cooperative control for MAUV are illustrated，including artificial intelligence and formation control techniques. Finally，the research trends of MAUV are also discussed and the main topic is highlighted. Key words： Multiple Autonomous Underwater Vehicle （MAUV） systems； path planning； flocking cooperation；formation control