Collision avoidance in the forming process of formation and obstacle avoidance on the formation proceeding are not solved using traditional multi-AUV formation algorithms

such as leader-follower and virtual structure. Artificial potential field algorithm can be used to solve the above problems

while its ability of formation organization is not satisfied. A multi-AUV formation control algorithm combing artificial potential field and virtual structure is proposed to overcome the problems. The system is divided into three parts: formation reference point

virtual structure particle and AUV. The desired virtual structure

which is the moving target of virtual structure particles

is organized to surround the formation reference point. Repulsive artificial potential is used to avoid collision and obstacle while the particles move. The AUVs track the particles to form a certain formation asymptotically. The formation path following

formation changing and obstacle avoidance are simulated to verify the availability and flexibility of the proposed algorithm. The results indicate that the multi-AUV system can form a formation without collision from random initial positions

and the fleet can change formation flexibly and avoid obstacles effectively while proceeding. Key