Path following and Cooperative Motion of Autonomous Underwater Vehicles Based on Leader-Follower method

With the increasing complexity of underwater missions, researchers have become very interested in designing and manufacturing Autonomous Underwater Vehicles (AUVs) with ability of cooperative motion.In performing a complex mission, a cooperative systems have a special advantage over a single vehicle.The aim of this article is to design an intelligent controller to control a group of AUVs with a robust leaderfollower architecture.In the leader-follower formation control system, we also use behavior-based cooperative control in the design of the algorithm, so that the cooperative control system does not fail in during disturbance environmental and unforeseen events.To validation of the proposed method in different conditions and in the presence of possible defects, simulation in the MATLAB software has been used.