Adaptive Leader-Follower Formation Control of Autonomous Marine Vehicles

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

Authors

Brinon Arranz, L (Author) Other; Pascoal, A (Author) Other; Aguiar, AP (Author) FEUP

Conference proceedings International

Title: Proceedings of the IEEE Conference on Decision and Control

Pages: 5328-5333

2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014

15 December 2014 through 17 December 2014

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 3 Citations

Other information

Authenticus ID: P-00G-BZG

DOI: 10.1109/cdc.2014.7040222

Abstract (EN): This paper addresses the problem of adaptive leader-follower formation control (ALFC) of autonomous marine vehicles. The rationale for this study can be found in a number of challenging geotechnical surveying missions aimed at mapping geological structures under the seabed. Mission specifications require that a group of surface vehicles equipped with acoustic receivers (hydrophones) maneuver in formation and acquire acoustic data emitted by one or more vehicles that carry acoustic emitters. To this effect, we adopt a basic setup for ALFC previously proposed for mobile robots modeled as single integrators and extend it to include explicitly the full dynamic equations of a representative type of marine vehicles. The paper offers a formal proof of convergence of the resulting formation control system. Results of simulations illustrate the performance that can be obtained with the control law proposed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6