Universiti Teknologi Malaysia Institutional Repository

A region boundary-based geometric formation control scheme for multiple autonomous underwater vehicles

Ismail, Zool Hilmi and Dunnigan, M. W. (2011) A region boundary-based geometric formation control scheme for multiple autonomous underwater vehicles. In: InECCE 2011 - International Conference on Electrical, Control and Computer Engineering. IEEE Explorer, pp. 491-496. ISBN 978-161284228-8

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Official URL: http://dx.doi.org/10.1109/INECCE.2011.5953932

Abstract

In this paper, a simple control approach based on a region boundary technique for geometric formation of multiple Autonomous Underwater Vehicles (AUVs) is presented. The control objective is to keep each underwater vehicle at each corner of a desired geometric shape, i.e. an equilateral triangle or a square. An edge-based segmentation approach is utilized rather than specifying the minimum distance between members to ensure that each vehicle is placed exactly at the desired position in their formation. This allows each vehicle that has its own function to carry out an effective individual task, thus improving the formation's performance. The model of the ODIN vehicle is used as an example to demonstrate the proposed controller. Simulation results show the effectiveness of the controllers.

Item Type:Book Section
Uncontrolled Keywords:dynamics, equations, mathematical model, shape, underwater vehicles, vehicle dynamics, vehicles
Subjects:Q Science > QC Physics
Divisions:Others
ID Code:28643
Deposited By: Liza Porijo
Deposited On:07 Nov 2012 01:05
Last Modified:07 Nov 2012 01:05

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