Fault tolerant area coverage using underwater vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2012

Autores

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

Ata de Conferência Internacional

Título: 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

Classificação Científica

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

CORDIS: Ciências Tecnológicas > Engenharia > Engenharia de controlo > Robótica

Outras Informações

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.

Idioma: Português

Tipo (Avaliação Docente): Científica