Distributed beamforming sonar for UUVs

Kleider, J.E.; Steenhoek, Chris

doi:10.1117/12.2619363

Cited by 3 publications

(2 citation statements)

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“…Based on the path trajectory performance from the controller design described previously, the path trajectory positions over time were output to a file that could be used to measure distributed beamforming (DBF) performance. A DBF sonar system [10] was utilized to determine the AUV swarm beamforming gain over that of a single AUV by assigning path trajectory position data to each AUV over time. The performance gain metric used for this work is SNR gain, as well as target range, as described in [10].…”

Section: Distributed Beamforming Performancementioning

confidence: 99%

“…A DBF sonar system [10] was utilized to determine the AUV swarm beamforming gain over that of a single AUV by assigning path trajectory position data to each AUV over time. The performance gain metric used for this work is SNR gain, as well as target range, as described in [10]. Table 1 shows the performance improvements for the swarm of AUVs while the swarm is travelling along the path as shown in Figure 8.…”

Section: Distributed Beamforming Performancementioning

confidence: 99%

See 1 more Smart Citation

Underwater swarm formation control with distributed beamforming

Wang¹,

Zhang²,

Kleider³

et al. 2023

Open Architecture/Open Business Model Net-Centric Systems and Defense Transformation 2023

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Autonomous underwater vehicles (AUVs) are gaining increasing attention due to their promising potential for underwater multi-agent tasks in both military and civil applications. Formation control for AUVs, as the basic problem in cooperation of multiple AUVs, is gaining increasing attention due to the unique difficulties compared with formation control for surface and aerial vehicles. In this paper, we propose a formation control algorithm for underactuated AUVs while tracking a given trajectory. The proposed strategy, which leverages a leader-follower approach, is used to reduce the complexity of the control algorithm. During the formation control process, each agent tracks the same trajectory formed by pre-set waypoints with constant surge velocity by using lower-level PID controllers. Simulations are conducted to validate the proposed formation control algorithm. The AUVs' position coordinates are fed to a distributed beamforming system to demonstrate the ability to form AUV swarm coherent beams.

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Section: Distributed Beamforming Performancementioning

confidence: 99%

Section: Distributed Beamforming Performancementioning

confidence: 99%