engleski

A Measure of Quality of Control for 2D AUV Formations

This paper presents a criterion for quality of formation control of AUV formations in 2D. Examined formations are large-scale homogeneous and isotropic, and founded on the premise of anonymous, idempotent constituent agents. In such a framework, it is not required of the formation control algorithm to uniquely identifying the agents, either in terms of their capabilities or in terms of their roles in the formation. Therefore, no agents stand out from any other agents. Rather, simple, geometrical rules govern the attraction of agents towards specific relative positions while cruising, producing formations that represents parts of regular or tilings of the plane. The explicit, closed-form solution for the optimum reference angle of the formation cell is found. The criterion signal is demonstrated to follow an intuitive notion of the quality of formation in a simulated experiment.

autonomous underwater vehicles; formation control; virtual potentials; optimization; criterion-based control

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