engleski

Formation Guidance of AUVs Using Decentralized Control Functions

This Chapter describes a system for coordinated and distributed control of formations of autonomous underwater vehicles that uses the paradigm of virtual potentials. Motion control is achieved by solving for angular and linear accelerations the kinematic unicycle model of the local gradient of the global virtual potential field comprised of a sum of influences of obstacles, formation members and global navigation goal or waypoint. Solutions represent the set- points for low-level controllers which it is possible to separately and non-uniformly design on a case-by-case basis for various AUVs that can all collaborate using this strategy. Simulation results for a precise non-linear and cross-coupled dynamic model of a heavy ocean-going vehicle controlled by sliding mode controllers of heading rate and forward speed are presented.

autonomous underwater vehicles, coordinated control, cooperative control, distributed control, virtual potentials, decentralized control functions, formation control, motion planning, cross-layer design

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