Power efficient formation configuration for centralized leader-follower AUVs control

被引:22
作者
Burlutskiy, Nikolay [1 ]
Touahmi, Yaniss [1 ]
Lee, Beom Hee [1 ]
机构
[1] Seoul Natl Univ, Robot & Intelligent Syst Lab, Seoul, South Korea
关键词
Multi-AUV; AUV control system; Formation control; Power-efficient control; Underwater operations;
D O I
10.1007/s00773-012-0167-0
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
Autonomous underwater vehicles (AUVs) have rapidly developed in the last few decades due to their autonomous properties in the investigation of an underwater environment. The goal of this paper is to develop a power efficient formation control for the cooperative motion of AUVs with a support vessel as a leader. In this paper, a kinematic algorithm for the joint motion of an AUV with a support vessel was developed and that algorithm was expanded for the formation of AUVs. The AUV yaw, surge and sway control loops were designed for that purpose. The complexing navigation system structure for the AUV was also developed. Simulation results demonstrated efficiency of the proposed kinematic algorithm for the joint motion of AUVs. Also, influence of lateral ocean current was considered. After development of the centralized leader-follower formation control for the group of AUVs with a support vessel as a leader, we optimized a formation configuration in terms of power efficiency. Drag forces caused by AUV motion in the water can significantly influence power consumption. We investigated the relationship between the AUV's formation configuration, underwater coverage efficiency, communication quality and power consumption. As a result of research, we proposed a power efficient formation configuration for typical underwater operations. As a result, the effect of the AUV formation configuration on the power consumption was investigated and a trade-off solution for the optimal AUV positions in formation with minimal energy consumption, high coverage efficiency and small communication power consumption was derived.
引用
收藏
页码:315 / 329
页数:15
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