Fault tolerant area coverage using underwater vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

J. Braga (Author) FEUP; P. Calado (Author) FEUP; P. B. Sujit (Author) FEUP; J. B. Sousa (Author) FEUP

Conference proceedings International

Title: IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV)

IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV) 2012

Porto, Portugal, 10-12 Apr. 2012

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

DOI: 10.3182/20120410-3-PT-4028.00017

Abstract (EN): Multiple autonomous underwater vehicles (AUVs) can be deployed to map large regions. For mapping, the desired motion plan must be lawn mover pattern to scan the bottom. In addition to motion plan constraints, AUVs are subject to limited sensing and communication ranges and some of the AUVs can fail while performing the assigned mission leg. Developing an efficient fault tolerant area coverage controller with these constraints is a difficult task. In this paper, we develop a consensus based fault tolerant area coverage controller that takes the uncertainty in environments, communication range constraints and AUV failures while covering the area with limited repeated coverage. Current approach is able to deal with agent faults located in the middle of a series of AUVs. Simulations are presented to validate the approach.

Language: Portuguese

Type (Professor's evaluation): Scientific