A behavior-based approach to adaptive feature detection and following with autonomous underwater vehicles

2000 ◽  
Vol 25 (2) ◽  
pp. 213-226 ◽  
Author(s):  
A.A. Bennett ◽  
J.J. Leonard
Keyword(s):  
Feature Detection ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Behavior Based

scholarly journals A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles†

2012 ◽  
Vol 46 (2) ◽  
pp. 32-44 ◽  
Author(s):  
Laura Sorbi ◽  
Graziano Pio De Capua ◽  
Jean-Guy Fontaine ◽  
Laura Toni
Keyword(s):  
Autonomous Underwater Vehicles ◽  
A Priori ◽  
Underwater Vehicles ◽  
Fixed Target ◽  
Marine Research ◽  
Detection And Tracking ◽  
Mobile Target ◽  
Overall Performance ◽  
Behavior Based ◽  
Unknown Area

AbstractDue to its applications in marine research, oceanographic, and undersea exploration, autonomous underwater vehicles (AUVs) and the related control algorithms recently have been under intense investigation. In this work, we address target detection and tracking issues, proposing a control strategy that is able to benefit from the cooperation among robots within the fleet. In particular, we introduce a behavior-based planner for cooperative AUVs, proposing an algorithm that is able to search and recognize targets in both static and dynamic scenarios. With no a priori information about the surrounding environment, robots cover an unknown area with the goal of finding objects of interest. When a target is found, the AUVs’ goal is to classify (fixed target) or track (mobile target) the target, with no information about target trajectory and with formation constraints. Results demonstrate the good overall performance of the proposed algorithm in both scenarios.

Cooperative Control of Multiple Autonomous Underwater Vehicles

2013 ◽  
Vol 365-366 ◽  
pp. 905-912
Author(s):  
Bin He ◽  
Da Peng Jiang
Keyword(s):  
Information Exchange ◽  
Cooperative Control ◽  
Distributed Simulation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Programming Algorithm ◽  
Simulation Environment ◽  
Efficient Communication ◽  
Behavior Based Control ◽  
Behavior Based

The focus of research of AUV is gradually moving towards multiple autonomous underwater vehicles (MAUV) in recent years. This paper describes an investigation into cooperative control of MAUV. Firstly, a distributed control architecture (MOOS) was applied to MAUV system. According to MOOS, functionalities of AUV were organized in a modular manner and a unified information exchange mechanism was used to ensure an efficient communication between different modules. Secondly, a behavior based control strategy was proposed to enable the AUV to cooperate with each other intelligently and adaptively. Interval programming algorithm was applied to make sure that behaviors of each AUV can be coordinated in a timely and optimal manner. Stability of behavior-based control of AUV was analyzed. Finally, a distributed simulation environment was established and a series of simulation were carried out to verify the feasibility of methods mentioned above.

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