A leader-follower algorithm for multiple AUV formations

被引：102

作者：

Edwards, DB ^{[1
]}

Bean, TA ^{[1
]}

Odell, DL ^{[1
]}

Anderson, MJ ^{[1
]}

机构：

[1] Univ Idaho, Dept Mech Engn, Moscow, ID 83843 USA

来源：

2004 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES | 2004年

关键词：

D O I：

10.1109/AUV.2004.1431191

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：

In the future, it may be possible to employ large numbers of autonomous marine vehicles to perform tedious and dangerous tasks, such as minesweeping. Hypothetically, groups of vehicles may leverage their numbers by cooperating. A fundamental form of cooperation is to perform tasks while maintaining a geometric formation. The formation behavior can then enable other cooperative behaviors. In this paper, we describe a leader-follower formation-flying control algorithm. This algorithm can be applied to one-, two-, and three-dimensional formations, and contains a degree of built-in robustness. Simulations and experiments are described that characterize the performance of the formation control algorithm. The experiments utilized surface craft that were equipped with an acoustic navigation and communication system, representative of the technologies that constrain the operation of underwater autonomous vehicles. The simulations likewise included the discrete-time nature of the communication and navigation.

引用

页码：40 / 46

页数：7

共 10 条

[1] BACCOU P, 2001, IEEE OC C REC, V3, P1816
[2] Fierro R, 2001, IEEE INT CONF ROBOT, P157, DOI 10.1109/ROBOT.2001.932546
[3] Freitag L, 2001, OCEANS 2001 MTS/IEEE: AN OCEAN ODYSSEY, VOLS 1-4, CONFERENCE PROCEEDINGS, P2065, DOI 10.1109/OCEANS.2001.968315
[4] GUANGXIN Y, 2003, 13 ANN S UNM UNT SUB
[5] LEE K, 2003, 13 ANN S UNMANN UNT
[6] Martins A, 2003, OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE, P347
[7] MCDOWELL P, 2002, IEEE OC C REC, V1, P331
[8] ODELL D, 2002, OCEANS C RECORD IEEE, V1, P266
[9] Stilwell DJ, 2002, IEEE DECIS CONTR P, P2093, DOI 10.1109/CDC.2002.1184838
[10] THOMPSON G, 2003, AUV FEST 2003 KEYPOR

← 1 →