Title :
Collision free formation control for multiple autonomous underwater vehicles
Author :
Fan, Shibo ; Feng, Zhengping ; Lian, Lian
Author_Institution :
State Key Lab. of Ocean Eng., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
An architecture for collision free formation control of multiple autonomous underwater vehicles is proposed in this paper. Based upon blackboard communication, the architecture includes communication, motion control and environment interacting modules. Orderly-Quaternion sets and control matrix are defined for the design of accurate formation geometry. Formation changing rules are proposed based on sensor information at first, and control matrix and artificial potential method are then utilized in formation reconfiguration. Finally the proposed approach is verified by a simulation of a swarm of 8 AUV´s moving through a constrained environment.
Keywords :
collision avoidance; matrix algebra; mobile robots; motion control; remotely operated vehicles; set theory; underwater vehicles; blackboard communication; collision free formation control; control matrix; environment interacting modules; formation geometry; motion control; multiple autonomous underwater vehicles; orderly-quaternion sets; Computer architecture; Motion control; Oceans; Quaternions; Sonar; Transmission line matrix methods; Underwater vehicles;
Conference_Titel :
OCEANS 2010 IEEE - Sydney
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4244-5221-7
Electronic_ISBN :
978-1-4244-5222-4
DOI :
10.1109/OCEANSSYD.2010.5603540
