Formation Control of Surface Marine Vehicles for Underwater Target Tracking Using Range Information
| Autor: | David Moreno-Salinas, Naveena Crasta, Joaquín Aranda, Antonio M. Pascoal |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
010505 oceanography Computer science Real-time computing Context (language use) Mobile robot 02 engineering and technology Tracking (particle physics) 01 natural sciences 020901 industrial engineering & automation Position (vector) Underwater Collision avoidance 0105 earth and related environmental sciences |
| Zdroj: | 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO). |
| DOI: | 10.1109/controlo.2018.8514303 |
| Popis: | In many of the marine applications, the availability of an accurate system to localize underwater targets using a group of surface vehicles equipped with acoustic sensors is of paramount importance. In this context, the surface vehicles must keep a well-defined formation with respect to the targets so as to maximize the range-based information available for target localization. In this paper, a target position estimation algorithm together with a simple formation control law to maintain an optimal configuration that maximizes range-related information for target localization and tracking are presented. The setup studied consists of a group of surface vehicles moving in formation and a target performing a predefined mission. The optimal formation is computed by maximizing the determinant of an appropriately defined Fisher information matrix (FIM), subject to inter-vehicle collision avoidance and vehicle manoeuvring constraints. A centralized approach for the formation control is considered, where the trajectory planning is carried out by a supervisor that computes the control actions for each agent. The formation control is complemented with a collision avoidance logic based on a discrete event law. Simulations show that this strategy leads to an interesting and well defined behavior of the formation for localization and tracking. |
| Databáze: | OpenAIRE |
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