Dynamic region boundary-based control scheme for Multiple Autonomous Underwater Vehicles

Zool Ismail, N Sarman, Mathew Walter Dunnigan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller.
Original languageEnglish
Title of host publicationOCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities; Yeosu; South Korea
ISBN (Electronic)978-145772089-5
DOIs
Publication statusPublished - 2012

Fingerprint Dive into the research topics of 'Dynamic region boundary-based control scheme for Multiple Autonomous Underwater Vehicles'. Together they form a unique fingerprint.

Cite this