Distributed Spacing Control for Multiple, Buoyancy-Controlled Underwater Robots

Sie sind hier: Homepage > Suche

Distributed Spacing Control for Multiple, Buoyancy-Controlled Underwater Robots

Wei, Cong / Paley, Derek A.

This paper presents a distributed coordination algorithm for multiple, buoyancy controlled underwater robots to achieve a moving formation in a shear flow. This work is motivated by the deployment of a swarm of ocean-going robots called Driftcam to observe the pelagic scattering layer. Driftcam horizontal motion is determined by the flow field and the vertical motion is regulated by the buoyancy control. Pairwise range measurements are available to the Driftcam network via acoustic transponders. A formation buoyancy controller is designed using the backstepping method; deviation from the desired formation is measured by a potential function. Numerical simulations illustrate the efficacy of the control algorithm and motivate ongoing and future efforts to estimate of the scattering layer density.

Zugriff

Zugriff prüfen

Verfügbarkeit in meiner Bibliothek prüfen

Bestellung bei Subito €

Exportieren, teilen und zitieren

Dokumentinformationen

Titel :

Distributed Spacing Control for Multiple, Buoyancy-Controlled Underwater Robots

Weitere Titelangaben:

Springer Proceedings in Advanced Robotics

Beteiligte:

LaValle, Steven M. (Herausgeber:in) / O’Kane, Jason M. (Herausgeber:in) / Otte, Michael (Herausgeber:in) / Sadigh, Dorsa (Herausgeber:in) / Tokekar, Pratap (Herausgeber:in) / Wei, Cong (Autor:in) / Paley, Derek A. (Autor:in)

Kongress:

International Workshop on the Algorithmic Foundations of Robotics ; 2022 ; , MD, USA June 22, 2022 - June 24, 2022

Erschienen in:

Algorithmic Foundations of Robotics XV ; Kapitel : 6 ; 85-97

Springer Proceedings in Advanced Robotics ; 25

Erscheinungsdatum :

2022-12-15

Format / Umfang :

13 pages

ISBN :

978-3-031-21090-7 , 978-3-031-21089-1

ISSN :