Cooperative formation control of underactuated marine vehicles for target surveillance under sensing and communication constraints

Dimitra Panagou, Kostas J. Kyriakopoulos

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

Abstract

This paper presents a Leader-Follower formation control strategy for underactuated marine vehicles which move under sensing and communication constraints in the presence of bounded persistent environmental disturbances. We assume that the vehicles do not communicate for exchanging information regarding on their states (pose and velocities), and that their sensing capabilities are restricted, due to limited range and angle-of-view. Sensing constraints are thus realized as a set of inequality state constraints which should never be violated (viability constraints). The viability constraints define a closed subset K of the configuration space (viability set K). The control objective is thus reduced into to coordinating the motion of the vehicles in a Leader-Follower formation, while system trajectories starting in K always remain viable in K. The proposed control design employs dipolar vector fields and a viability-based switching control scheme, which guarantees that system viability is always maintained. The efficacy of the proposed algorithm, as well as its relevance with surveillance of (stationary) targets are demonstrated through simulations.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages1871-1876
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/TerritoryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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