This paper proposes the development of a formation control algorithm of multiple acoustic
underwater vehicles by employing the behaviour of autonomous mobile agents under a proposed
pursuit. A robust pursuit is developed using the distributed consensus coordinated algorithm
ensuring the transfer of information among the AUVs. The development of robust pursuit based
on characteristics of multi-agent system is for solving the incomplete information capabilities in
each agent such as asynchronous computation, decentralized data and no system global control.
In unreliable and narrow banded underwater acoustic medium, the formation of AUVs based
distributed coordinated consensus tracking can be accomplished under the constant or varying
virtual leader’s velocity. Further, the study to achieve tracking based on virtual leader AUV’s
velocity is extended to fixed and switching network topologies. Again for mild connectivity,
an adjacency matrix is defined in such a way that an adaptive connectivity is ensured between
the AUVs. The constant virtual leader vehicle velocity method based on consensus tracking
is more robust to reduce inaccuracy because no accurate position and velocity measurements
are required. Results were obtained using MATLAB and acquired outcomes are analysed for
efficient formation control in presence of the underwater communication constraints.
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