Collision free formation control for multiple autonomous underwater vehicles

Collision free formation control for multiple autonomous underwater vehicles

An architecture for collision free formation control of multiple autonomous underwater vehicles is proposed in this paper. Based upon blackboard communication, the architecture includes communication, motion control and environment interacting modules. Orderly-Quaternion sets and control matrix are...

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Hauptverfasser: Shibo Fan, Zhengping Feng, Lian Lian
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Sprache:eng
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Computer architecture
Motion control
Oceans
Quaternions
Sonar
Transmission line matrix methods
Underwater vehicles
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Zhengping Feng
Lian Lian
description An architecture for collision free formation control of multiple autonomous underwater vehicles is proposed in this paper. Based upon blackboard communication, the architecture includes communication, motion control and environment interacting modules. Orderly-Quaternion sets and control matrix are defined for the design of accurate formation geometry. Formation changing rules are proposed based on sensor information at first, and control matrix and artificial potential method are then utilized in formation reconfiguration. Finally the proposed approach is verified by a simulation of a swarm of 8 AUV's moving through a constrained environment.
doi_str_mv 10.1109/OCEANSSYD.2010.5603540
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subjects Computer architecture
Motion control
Oceans
Quaternions
Sonar
Transmission line matrix methods
Underwater vehicles
title Collision free formation control for multiple autonomous underwater vehicles
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