Coverage control of multiple autonomous underwater vehicle with disturbance by ocean currents considered

A decentralized coverage control law is presented to drive a network of autonomous underwater vehicles (ASVs) to an optimal coverage configuration in the ocean environment. Firstly, the transformation of Voronoi Partition is proposed with the disturbance by ocean currents considered. The transformation recalculated the Voronoi Partition and the optimization localization. A controller is provided by introducing a kinematic algorithm to propagate ASVs throughout the network with arbitrary initial positions. The dynamical control law is then improved from the kinematic controller by employing the adaptive back-stepping techniques. Convergence and stability of ASV system are proved with Lyapunov stability theorem. Simulation results are presented to illustrate the effectiveness of these approaches.