A Centralized Approach to the Coordination of Marine Robots

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Bruno M Ferreira (Autor) FEUP; Anibal C Matos (Autor) FEUP; Nuno A Cruz (Autor) FEUP; Antonio Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: Lecture Notes in Electrical Engineering

Páginas: 567-576

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 1 Citação

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-009-TQB

DOI: 10.1007/978-3-319-10380-8_54

Abstract (EN): This paper presents a centralized coordination scheme for multiple marine vehicles. The only requirements for proper operation of this method are the presence of bidirectional communication links with a virtual leader and bounded reference tracking errors. By relying on a, lower level, individual position tracking control, coordination is achieved by means of a centralized potential-field that uniquely defines the desired formation geometry as well as its position. The formation can be driven along a path that does not necessarily need to be predefined. Instead, a virtual leader defines the formation position at each instant of time. Furthermore, the possibility of setting stationary points over the path followed by the formation is guaranteed. The approach is illustrated in practice with autonomous surface vehicles in real environment, subjected to disturbances such as wind and waves.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 10