Angle-constrained Cooperative Guidance Law with Limited Communication for Multi-AUV

Considering the constraints of hydroacoustic communication cycles, packet loss and delay, this paper proposes an angle-constrained cooperative guidance law based on switching strategy for the multi-AUV cooperative guidance. For angle constraints, apply optimal control theory to design a guidance law with angle constraints; for time cooperative guidance, the remaining time estimation method is studied, and the time cooperative guidance law is designed based on the consensus algorithm. In order to solve the problems caused by communication constraints, a cooperative information processing mechanism is proposed. A switching strategy of guidance laws is designed to enable the AUV to switch between the angleconstrained guidance law and the time cooperative guidance. Simulation results verify the effectiveness of the cooperative guidance method.