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Author Ch, Deepali ♦ Diwani, Bharti ♦ Pansari, Dewashri
Source CiteSeerX
Content type Text
File Format PDF
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Multiple Auvs ♦ Dimensional Plane ♦ Formation Control ♦ Theoretical Formalization ♦ Virtual Structural Method ♦ Desired Distance ♦ Behaviour-based Method ♦ Numerical Simulation ♦ Auv Technology ♦ Predefined Trajectory ♦ Artificial Potential ♦ Mathematical Analysis ♦ Formation Scheme ♦ Multiple Autonomous Underwater Vehicle
Abstract ABSTRACT: Formation control using a leader-follower approach is a advancement in AUV technology for control and formation of multiple Autonomous underwater vehicles. This approach leads the other approaches of formation control like behaviour-based method, virtual structural method, artificial potentials as the theoretical formalization and mathematical analysis of these approaches are difficult and consequently it is not easy to guarantee the convergence of the formation to a desired configuration. On the other hand in the leader-follower approach, a robot of the formation, designated as the leader, moves along a predefined trajectory while the other robots, the followers, are to maintain a desired distance and orientation with respect to the leader. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation scheme.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article