Formation Control of a Multi-Autonomous Underwater Vehicle Event-Triggered Mechanism Based on the Hungarian Algorithm

Among the key technologies of Autonomous Underwater Vehicle (AUV) leader-follower formations control, formation reconfiguration technology is one of the main technologies to ensure that multiple AUVs successfully complete their tasks in a complex operating environment. The biggest drawback of the leader-follower formations technology is the failure of the leader and the excessive communication pressure of the leader. Aiming at the problem of leader failure in multi- AUV leader-follower formations, the Hungarian algorithm is used to reconstruct the failed formation with a minimum cost, and the improvement of the Hungarian algorithm can solve the problem of a non-standard assignment. In order to solve the problem of an increased leader communication task after formation reconfiguration, the application of an event-triggered mechanism (ETM) can reduce unnecessary and useless communication, while the efficiency of the ETM can be improved through increasing the event-triggered conditions of the sampling error threshold. The simulation results of multi-AUV formation control show that the Hungarian algorithm proposed in this paper can deal with the leader failure in the multi-AUV leader-follower formation, and the ETM designed in this paper can reduce about 90% of the communication traffic of the formation which also proves the highly efficient performance of the improved ETM in the paper.