Spatial Synchronized Parallel Formation for Autonomous Underwater Vehicles Fleet

Author

Jin, Jiucai ; Zhang, Jie ; Guan, Sheng ; Wang, Yanfeng

Author_Institution

Inst. of Oceanol., Grad. Univ. of the Chinese Acad. of Sci., Qingdao, China

fYear

2010

fDate

13-15 Aug. 2010

Firstpage

267

Lastpage

270

Abstract

A cooperative control method of particles fleet was developed and used for autonomous underwater vehicles (AUVs) fleet´s synchronized parallel formation in space. Based coupled phase oscillators´ theory, particles model for variable speed was constructed. The velocity matching and virtual leader control law was designed, which was proved to guarantee the AUVs fleet synchronized parallel running along with the orientation of virtual leader. The convergence was analyzed. The numerical simulation results for spatial synchronized parallel formations were presented.

Keywords

mobile robots; remotely operated vehicles; synchronisation; underwater vehicles; autonomous underwater vehicles fleet; cooperative control method; coupled phase oscillators theory; particles fleet; spatial synchronized parallel formation; velocity matching; virtual leader control law; Aerospace electronics; Computational modeling; Convergence; Law; Lead; Mathematical model; Synchronization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Information Processing (ICICIP), 2010 International Conference on

Conference_Location

Dalian

Print_ISBN

978-1-4244-7047-1

Type

conf

DOI

10.1109/ICICIP.2010.5564217

Filename

5564217