Formation Control and Obstacle Avoidance Algorithm of Multiple Autonomous Underwater Vehicles(AUVs) Based on Potential Function and Behavior Rules

2007 ◽  
Author(s):  
Qiuling Jia ◽  
Guangwen Li
Keyword(s):  
Potential Function ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
And Behavior

scholarly journals Joint Formation Control with Obstacle Avoidance of Towfish and Multiple Autonomous Underwater Vehicles Based on Graph Theory and the Null-Space-Based Method

Sensors ◽  
2019 ◽  
Vol 19 (11) ◽  
pp. 2591 ◽  
Author(s):  
Shi-kun Pang ◽  
Ying-hui Li ◽  
Hong Yi
Keyword(s):  
Graph Theory ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Null Space ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Behavioral Approach ◽  
Output Function ◽  
Joint Formation ◽  
Low Level

In this study, a new joint formation combined with a two-part underwater towed vehicle (towfish) with multiple autonomous underwater vehicles (AUVs) was investigated. A triangular structure formation was established based on graph theory, in which the main point is the secondary towed vehicle acting as the “leader,” and the other two points are AUVs acting as “followers.” The excellent real-time performance and high flexibility of the towfish is highlighted, and the communication delay and fixed routine of AUVs can be avoided simultaneously. As to the obstacle avoidance, the null-space-based behavioral approach is proposed. On the basis of this approach, the formation task moving to the target is decomposed into different subtasks, and the obstacle avoidance subtask is set as the highest priority. The vector of the low-level task is projected to the null space of the high-level task vector, and the integrated task output is used as the final output function. The low-level task is partially or completely accomplished while handling the higher task; therefore, the mutual conflict between different level targets can be avoided. Moreover, the corresponding task functions are designed in accordance with different subtask priorities. The comprehensive output function of formation motion is deduced and established to ensure that obstacles can be avoided effectively. Furthermore, simulation results demonstrate the effectiveness and feasibility of the proposed method in a complex underwater environment with obstacles.

scholarly journals Publish and Subscribe-Based Formation and Containment Control of Heterogeneous Robotic System with Actuator Time Delay

2021 ◽  
Vol 11 (19) ◽  
pp. 9145
Author(s):  
Siddig M. Elkhider ◽  
Omar Al-Buraiki ◽  
Sami El-Ferik
Keyword(s):  
Time Delay ◽  
Obstacle Avoidance ◽  
Data Transmission ◽  
Data Exchange ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Containment Control ◽  
L1 Adaptive Control ◽  
Navigation Algorithm ◽  
Local Controller

This paper addresses the problem of controlling a heterogeneous system composed of multiple Unmanned Aerial Vehicles (UAVs) and Autonomous Underwater Vehicles (AUVs) for formation and containment maintenance. The proposed approach considers actuator time delay and, in addition to formation and containment, considers obstacle avoidance, and offers a robust navigation algorithm and uses a reliable middleware for data transmission and exchange. The methodology followed uses both flocking technique and modified L1 adaptive control to ensure the proper navigation and coordination while avoiding obstacles. The data exchange between all the agents is provided through the data distribution services (DDS) middleware, which solves the interoperability issue when dealing with heterogeneous multiagent systems. The modified L1 controller is a local controller for stabilizing the dynamic model of each UAV and AUV, and the flocking approach is used to coordinate the followers around the leader or within the space delimited by their leaders. Potential Field (PF) allows obstacle avoidance during the agents’ movement. The performance of the proposed approach under the considerations mentioned above are verified and demonstrated using simulations.

Research on Multiple Autonomous Underwater Vehicles Formation Control

2014 ◽  
Vol 641-642 ◽  
pp. 1264-1268
Author(s):  
Zi Qi Lin ◽  
Yong Jie Pang ◽  
Da Peng Jiang
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Advantages And Disadvantages ◽  
Formation Method ◽  
The Law

While the single AUV is sometimes unable to meet the complex and difficult tasks demand, the advantages of the multiple autonomous underwater vehicles (MAUV) system was proposed. Several MAUV formation methods were studied and master-slave collaborative formation method was focused. The law and algorithm of master-slave formation control was designed and analyzed. Representative formations for different tasks were proposed and the advantages and disadvantages were discussed.

Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin

2021 ◽  
Vol 33 (1) ◽  
pp. 151-157
Author(s):  
Akihiro Okamoto ◽  
◽  
Motonobu Imasato ◽  
Shunka C. Hirao ◽  
Hidenori Sekiguchi ◽  
...  
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Control Algorithms ◽  
Prototype System ◽  
Large Size ◽  
Constant Distance ◽  
Virtual Leader ◽  
Vital Factor ◽  
Fundamental Experiment

The formation control of multiple autonomous underwater vehicles (AUVs) is increasingly becoming a vital factor in enhancing the efficiency of ocean resources exploration. However, it is currently difficult to deploy such a package of AUVs for operation at sea because of their large size. The aim of our study is to create a demonstration system for formation control algorithms using actual hardware. To implement a prototype system, we developed a testbed AUV usable in a test basin and performed a simple formation control test in the Actual Sea Model Basin of the National Maritime Research Institute, Japan. Two AUVs, the simulated “virtual” leader and the developed “real” follower, communicate through an acoustic link and hence cruise to maintain a constant distance between them. Tests for more sophisticated formation control algorithms will be enabled using the system; consequently rapid implementation at sea will be realized.

Sign in / Sign up

Export Citation Format

Share Document