A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles
In this paper, a simple control approach based on a region boundary technique for geometric formation of multiple Autonomous Underwater Vehicles (AUVs) is presented. The control objective is to keep each underwater vehicle at each corner of a desired geometric shape, i.e. an equilateral triangle or...
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| Format: | Conference or Workshop Item |
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2011
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| author | Dunnigan, M. W. Ismail, Zool Hilmi |
| author_facet | Dunnigan, M. W. Ismail, Zool Hilmi |
| author_sort | Dunnigan, M. W. |
| collection | ePrints |
| description | In this paper, a simple control approach based on a region boundary technique for geometric formation of multiple Autonomous Underwater Vehicles (AUVs) is presented. The control objective is to keep each underwater vehicle at each corner of a desired geometric shape, i.e. an equilateral triangle or a square. An edge-based segmentation approach is utilized rather than specifying the minimum distance between members to ensure that each vehicle is placed exactly at the desired position in their formation. This allows each vehicle that has its own function to carry out an effective individual task, thus improving the formation's performance. The model of the ODIN vehicle is used as an example to demonstrate the proposed controller. Simulation results show the effectiveness of the controllers. |
| first_indexed | 2024-03-05T19:17:16Z |
| format | Conference or Workshop Item |
| id | utm.eprints-45507 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:17:16Z |
| publishDate | 2011 |
| record_format | dspace |
| spelling | utm.eprints-455072017-07-30T07:31:43Z http://eprints.utm.my/45507/ A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles Dunnigan, M. W. Ismail, Zool Hilmi TK Electrical engineering. Electronics Nuclear engineering In this paper, a simple control approach based on a region boundary technique for geometric formation of multiple Autonomous Underwater Vehicles (AUVs) is presented. The control objective is to keep each underwater vehicle at each corner of a desired geometric shape, i.e. an equilateral triangle or a square. An edge-based segmentation approach is utilized rather than specifying the minimum distance between members to ensure that each vehicle is placed exactly at the desired position in their formation. This allows each vehicle that has its own function to carry out an effective individual task, thus improving the formation's performance. The model of the ODIN vehicle is used as an example to demonstrate the proposed controller. Simulation results show the effectiveness of the controllers. 2011 Conference or Workshop Item PeerReviewed Dunnigan, M. W. and Ismail, Zool Hilmi (2011) A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles. In: International Conference On Electrical Control And Computer Engineering 2011 (INECCE 2011). http://dx.doi.org/10.1109/INECCE.2011.5953932 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Dunnigan, M. W. Ismail, Zool Hilmi A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles |
| title | A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles |
| title_full | A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles |
| title_fullStr | A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles |
| title_full_unstemmed | A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles |
| title_short | A region boundary-based geometric formation control schemes for multiple autonomous underwater vehicles |
| title_sort | region boundary based geometric formation control schemes for multiple autonomous underwater vehicles |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT dunniganmw aregionboundarybasedgeometricformationcontrolschemesformultipleautonomousunderwatervehicles AT ismailzoolhilmi aregionboundarybasedgeometricformationcontrolschemesformultipleautonomousunderwatervehicles AT dunniganmw regionboundarybasedgeometricformationcontrolschemesformultipleautonomousunderwatervehicles AT ismailzoolhilmi regionboundarybasedgeometricformationcontrolschemesformultipleautonomousunderwatervehicles |