Adaptive Leader-Follower Formation Control of Autonomous Marine Vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2014

Autores

Brinon Arranz, L (Autor) Outra; Pascoal, A (Autor) Outra; Aguiar, AP (Autor) FEUP

Ata de Conferência Internacional

Título: Proceedings of the IEEE Conference on Decision and Control

Páginas: 5328-5333

2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014

15 December 2014 through 17 December 2014

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 3 Citações

Outras Informações

ID Authenticus: P-00G-BZG

DOI: 10.1109/cdc.2014.7040222

Abstract (EN): This paper addresses the problem of adaptive leader-follower formation control (ALFC) of autonomous marine vehicles. The rationale for this study can be found in a number of challenging geotechnical surveying missions aimed at mapping geological structures under the seabed. Mission specifications require that a group of surface vehicles equipped with acoustic receivers (hydrophones) maneuver in formation and acquire acoustic data emitted by one or more vehicles that carry acoustic emitters. To this effect, we adopt a basic setup for ALFC previously proposed for mobile robots modeled as single integrators and extend it to include explicitly the full dynamic equations of a representative type of marine vehicles. The paper offers a formal proof of convergence of the resulting formation control system. Results of simulations illustrate the performance that can be obtained with the control law proposed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6