Realistic Cooperative Control Mechanism of Multiple AUVs
Autonomous Underwater Vehicle (AUV) has turned to be an effective mean for scientific,industrial and naval applications.The focus of research of AUV is gradually moving towards multiple autonomous underwater vehicles (MAUV) in recent years.This paper describes an investigation into cooperative control of MAUV.Firstly,a distributed control architecture (MOOS) was applied to MAUV system.According to MOOS,functionalities of AUV were organized in a modular manner and a unified information exchange mechanism was used to ensure an efficient communication between different modules.Secondly,a behavior based control strategy was proposed to enable the AUV to cooperate with each other intelligently and adaptively.Interval programming algorithm was applied to make sure that behaviors of each AUV can be coordinated in a timely and optimal manner.Stability of behavior-based control of AUV was analyzed.Finally,a distributed simulation environment was established and a series of simulation were carried out to verify the feasibility of methods mentioned above.
Multiple Autonomous Underwater Vehicles Cooperative Control Behavior-based Control MOOS-IvP
Jiang Dapeng He Bin
Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin 150001, Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin 150001,
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1395-1400
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）