ABSTRACT
Teams of Autonomous Underwater Vehicles(AUVs) can extend the range and/or reliability of any underwater mission and are finding newer applications everyday. In this paper, we propose and analyze the performance of a leader-follower formation control algorithm based on state estimation. The controller estimates the next desired position of each follower robot from the previous and current positions of the leader and follower robots and drives each follower robot into the desired trajectory. This paper investigates the capability of this algorithm in complex formations and takes into account the dynamics of leader and follower robots. Dynamic formation changes en route is also analyzed. A brief description of the experimental setup for the real time testing of the system is provided.
- G. Antonelli, T. I. Fossen, and D. R. Yoerger. Underwater robotics. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, chapter 44, pages 987--1008. Springer Berlin Heidelberg, Berlin, Heidelberg, 2008.Google Scholar
- R. Cui, S. Sam Ge, B. Voon Ee How, and Y. Sang Choo. Leader follower formation control of underactuated autonomous underwater vehicles. Ocean Engineering, 37(17--18):1491--1502, Dec. 2010.Google Scholar
- J. P. Desai, J. Ostrowski, and V. Kumar. Controlling formations of multiple mobile robots. In Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on, volume 4, pages 2864--2869 vol.4. IEEE, May 1998.Google ScholarCross Ref
- F. Fahimi. Autonomous Robots Modeling, Path Planning, and Control. Springer Berlin Heidelberg, 2009.Google Scholar
- T. I. Fossen. Guidance and control of ocean vehicles. Wiley, 1994.Google Scholar
- U. Neettiyath and A. Thondiyath. Improved leader follower formation control of autonomous underwater vehicles using state estimation. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics, pages 472--475. SciTePress - Science and and Technology Publications, 2012.Google Scholar
- A. Thondiyath and M. Singaperumal. Autonomous underwater Vehicle(AUV) - jubilee a research platform for navigation and control. Technical report, IIT Madras, Jan. 2008.Google Scholar
- S. Wadoo and P. Kachroo. Autonomous Underwater Vehicles: Modeling, Control Design and Simulation. CRC Press, 1 edition, Dec. 2010.Google Scholar
- X. Xiang, L. Lapierre, B. Jouvencel, and O. Parodi. Coordinated path following control of multiple nonholonomic vehicles. In OCEANS 2009 - EUROPE, pages 1--7, May 2009.Google ScholarCross Ref
- J. Yuh. Design and control of autonomous underwater robots: A survey. Autonomous Robots, 8(1):7--24, Jan. 2000. Google ScholarDigital Library
Index Terms
- Dynamic Formations of Autonomous Underwater Vehicles using State Estimation
Recommendations
Mid-water current aided localization for autonomous underwater vehicles
Survey-class autonomous underwater vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface ...
A Formation Control Algorithm by Modified Next-state Approximation to Reduce Communication Requirements in Multirobot Systems
ICINCO 2015: Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2Multiple robot systems are employed in various applications to get the complex tasks carried out by a group of robots. When Autonomous Underwater Vehicles (AUVs) are employed for underwater missions, they provide higher quality data, more coverage and ...
Research on Formation Obstacle Avoidance Algorithm of Multiple AUVs Based on Interfered Fluid Dynamical System
Intelligent Robotics and ApplicationsAbstractThis paper focuses on planning a two-dimensional (2-D) obstacle avoidance path for the formation of autonomous underwater vehicles (AUVs) in an ocean environment with complicated static obstacles. Inspired by the natural phenomenon of a flowing ...
Comments