Wen Pang, Daqi Zhu, Mingzhi Chen, Wentao Xu
This paper addresses the challenge of cooperatively escorting a moving underwater target, such as a human-occupied vehicle (HOV), using a multi-AUV formation in complex ocean environments. We propose a comprehensive framework, RG-SAPF scheme, that integrates a rigidity graph (RG)-based reconfigurable formation control strategy with a safe artificial potential field (SAPF) motion planning method. The RG-based controller enables the AUVs to form and dynamically reconfigure a 3D escort formation around the target using only relative position information, ensuring the target remains within the formation's convex hull. Meanwhile, the SAPF algorithm, enhanced with an adaptive Widrow-Hoff rule, enables real-time and collision-free path planning in obstacle-rich environments. Simulation and experimental results demonstrate that the proposed method effectively maintains formation integrity, supports flexible obstacle avoidance, and provides continuous target escort under dynamic conditions, validating its potential for practical underwater escort applications.