An optimal control for multiple Unmanned Underwater Crawling Vehicles

Author

Lee, Kwang-Hwa

Author_Institution

Coastal Syst. Station, Panama City, FL, USA

Volume

5

fYear

2003

fDate

22-26 Sept. 2003

Abstract

Summary form only given. This paper presents an optimal control methodology to generate a group behavior for Unmanned Underwater Crawling Vehicles (UUCV) having track-style wheels. The group behaviors with leader-follower formation and obstacle avoidance algorithm is developed to maximize multiple objective functions within a goal attainment method for an uncertain environment. This is done by using intelligent control technology based on physical dynamics modeling.

Keywords

collision avoidance; data acquisition; fuzzy logic; oceanographic equipment; oceanographic techniques; remotely operated vehicles; underwater vehicles; adaptive neural network fuzzy logic; bumper system; controller; goal attainment method; intelligent control technology; leader-follower formation; multiple UUCV; multiple objective functions; obstacle avoidance algorithm; optimal control; optimization techniques; physical dynamics modeling; proportional integral derivative; track-style wheels; unmanned underwater crawling vehicles; Fuzzy logic; Intelligent control; Neural networks; Optimal control; Pi control; Proportional control; Remotely operated vehicles; Sonar; Surface topography; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2003. Proceedings

Conference_Location

San Diego, CA, USA

Print_ISBN

0-933957-30-0

Type

conf

DOI

10.1109/OCEANS.2003.178325

Filename

1282992