A Centralized Approach to the Coordination of Marine Robots

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

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

Conference proceedings International

Title: Lecture Notes in Electrical Engineering

Pages: 567-576

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 1 Citation

Scientific classification

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

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10