Flexible triangular formation keeping of marine robotic vehicles using range measurements

• Type: Article in International Conference Proceedings Book
• Date: 2014

Authors

Rego, F (Author) Other; Soares, JM (Author) Other; Pascoal, A (Author) Other; Aguiar, AP (Author) FEUP; Jones, C (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 5145-5150

19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

24 August 2014 through 29 August 2014

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 14 Citations

Other information

Authenticus ID: P-00G-5KM

Abstract (EN): This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6