Path planning and formation control are two of the most significant concepts which can be considered in multi-vehicle systems and particularly in autonomous underwater vehicles (AUVs). The cooperative implementation of complicated commands would lead to desirable results and increase the probability of success in the missions. Due to the nonlinear dynamics and environmental conditions, the cooperative control of AUVs is a challenging topic. The developments in AUV applications demonstrate the significance of research and development in path planning and formation control. Unlike ground or aerial autonomous vehicles, this field of study has not attracted considerable attention and further exploration is required as a result. The present paper reviews the different structures of formation control in AUVs and discusses their advantages and disadvantages. Besides formation control, the cooperative path planning of AUVs along with the limitations specific to the cooperative structure is taken into consideration in the present study. Moreover, avoiding any obstacle collision and preventing any encounter between group members are considered as critical issues in the formation control and cooperative path planning. Some areas are still open to investigation as implied by the technological suggestions, which will facilitate future research. At the end of the article, a simulated sample is given of the triangular formation path planning for AUVs.

路径规划和编队控制是最重要的两个概念，可以在多车系统中考虑，尤其是在自动水下航行器（AUV）中。协同执行复杂的命令将导致理想的结果，并增加任务成功的可能性。由于非线性动力学和环境条件，AUV的协同控制是一个具有挑战性的话题。AUV应用程序的发展证明了研发在路径规划和编队控制中的重要性。与地面或空中自动驾驶车辆不同，该研究领域尚未引起足够的关注，因此需要进一步的研究。本文综述了自动水下航行器中编队控制的不同结构，并讨论了它们的优缺点。除编队控制外，本研究还考虑了AUV的协作路径规划以及协作结构特有的限制。而且，在编队控制和协作路径规划中，避免任何障碍物碰撞和防止组成员之间的任何相遇被视为关键问题。技术建议所隐含的某些领域尚待调查，这将有助于将来的研究。在文章的结尾，给出了AUV的三角形编队路径规划的模拟样本。在这项研究中，考虑了AUV的合作路径规划以及特定于合作结构的限制。而且，在编队控制和协作路径规划中，避免任何障碍物碰撞和防止组成员之间的任何相遇被视为关键问题。技术建议所隐含的某些领域尚待调查，这将有助于将来的研究。在文章的结尾，给出了AUV的三角形编队路径规划的模拟样本。在这项研究中，考虑了AUV的合作路径规划以及特定于合作结构的限制。而且，在编队控制和协作路径规划中，避免任何障碍物碰撞和防止组成员之间的任何相遇被视为关键问题。技术建议所隐含的某些领域尚待调查，这将有助于将来的研究。在文章的结尾，给出了AUV的三角形编队路径规划的模拟样本。技术建议所隐含的某些领域尚待调查，这将有助于将来的研究。在文章的结尾，给出了AUV的三角形编队路径规划的模拟样本。技术建议所隐含的某些领域仍可进行调查，这将有助于将来的研究。在文章的结尾，给出了AUV的三角形编队路径规划的模拟样本。