# Multi-AUV Formation Reconfiguration Obstacle Avoidance Algorithm Based on Affine Transformation and Improved Artificial Potential Field Under Ocean Currents Disturbance

> Research article (IEEE Transactions on Automation Science and Engineering, 2023) · cited 75× · AI/ML

**Wikidata**: [openalex:W4386234649](https://www.wikidata.org/wiki/openalex:W4386234649)  
**Source**: https://4ort.xyz/entity/multi-auv-formation-reconfiguration-obstacle-avoidance-algorithm-based-on-affine-transformation-and-improved-artificial-