Lawn mower formation keeping

http://marcogallieri.micso.it - A simulation is performed for AUV formation control, using only range measurements. The green agent, doesn't know anything but the distance from the blue agents, which are supposed to keep formation. For some configurations, the position of the 2 leaders, is therefore unobservable. This problem is solved as a leader following problem. A nonlinear switching control has been formulated, to steer a nonholonomic kinematic model (AUV in the plane) to track the desired position. The vehicle are supposed to move in 2D. This is achieved in practice by implementing separately a depth control.
At this stage, the dynamic is neglected, supposing to have appropriate speed controllers.

Category:

Science & Technology

Tags:

• nonlinear
• switching
• adaptive
• control
• VSC
• mobile
• robot
• robotic
• autonomous
• underwater
• vehicles
• path
• planning
• leader
• following
• range
• sensors
• sonar
• IST
• Lisboa
• ISR
• Instituto
• Superior
• Técnico
• Marco
• Gallieri
• Freesubnet
• Co3AUV
• kinematics
• angular
• velocity
• linear
• nonholonomic
• holonomic