Title :
An optimal control for multiple Unmanned Underwater Crawling Vehicles
Author_Institution :
Coastal Syst. Station, Panama City, FL, USA
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;
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
DOI :
10.1109/OCEANS.2003.178325
