Multi-AUG three-dimensional path planning and secure cooperative path following under DoS attacks

This article is concerned with the design of a three-dimensional path planning and secure event-triggered cooperative path following for multiple disk-type autonomous underwater gliders (AUGs) in the presence of underwater obstacles and denial-of service (DoS) attacks. A three-dimensional collision-free path planning method is firstly proposed by using a quantum-behaved adaptive particle swarm optimization method in the global path planning layer and an artificial potential field method in the local path planning layer. Secondly, a path variable update law is devised based on a three-dimensional line-of-sight guidance mechanism, which can achieve the cooperative control for networked AUGs, in addition, AUGs can stop at the target points automatically. Finally, an event-triggered mechanism is presented to achieve secure cooperative control for AUGs under the unreliable network environment in the presence of DoS attacks. The stability is validated based on the input-to-state stability theory. Simulation results and numerical analysis demonstrate the effectiveness of the proposed integrated three-dimensional collision-free path planning and secure event-triggered cooperative path following method.