Flocking control of multiple autonomous underwater vehicles

Sahu, Basant Kumar; Subudhi, Bidyadhar; Dash, Basanta Kumar

doi:10.1109/indcon.2012.6420625

Cited by 7 publications

(3 citation statements)

References 15 publications

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“…Aerodynamic forces are calculated with the component breakdown method that is previously used for aerostats (Lambert, 2002) and underwater vehicles (Nahon, 1996). The method divided the aerostat into the hull, and the fins and their aerodynamic forces are calculated separately.…”

Section: Methodsmentioning

confidence: 99%

The effect of hull fineness ratio and fin parameters on the optimization of tethered aerostat

Mahmood

Ismail

2021

AEAT

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Purpose This paper aims to optimize the mass of a tethered aerostat to achieve optimum hull volume, and fins to generate aerodynamic lift to reduce the blow-by. Design/methodology/approach The design code of aerostat involving structure, aerostatics, aerodynamics and stability has been developed using MATLAB®. The design code is used to obtain the baseline configuration for a tactical aerostat mission by using the statistical values of the hull fineness ratio and the fin parameters of in-service aerostats. The effect of the design variables that include the hull fineness ratio, fin area and fin position on the aerostat mass and blow-by is determined through sensitivity analysis. The aerostat is optimized with an objective function of minimization of mass for the bounded values of design variables and taking blow-by limit as a constraint. Findings This study reveals that the simultaneous optimization of the aerostat hull fineness ratio, fin area and fin position results in an improvement in the design. The aerostat design with optimum values of these parameters helps in a reduction in its size and mass without compromising the blow-by limits. Research limitations/implications This study has been conducted by keeping the hull shape constant by selecting standard National Physics Laboratory envelope shape. The aerodynamic model used in the design code is based on empirical relationships that can be improved in future studies that can use high fidelity aerodynamic models using CFD based surrogate models. Originality/value The previous studies on optimization of aerostats are limited to hull envelope shape only, whereas this paper presents the optimization of the hull and fin together. The optimized configuration obtained has a reduced mass and can operate within the specified blow-by limits.

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Section: Methodsmentioning

confidence: 99%

The effect of hull fineness ratio and fin parameters on the optimization of tethered aerostat

Mahmood

Ismail

2021

AEAT

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“…Some papers have extended their use into three-dimensional work for both airborne [18], and underwater vehicles [19]. A frequently reported issue with this method is when attractive and repulsive forces combine to produce a null force, leading the vehicle to become trapped in a local minimum and remain in a static position.…”

Section: A Artificial Potential Fieldsmentioning

confidence: 99%

Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles

McIntyre

Naeem

Ali

et al. 2016

2016 IEEE International Conference on Underwater System Technology: Theory and Applications (USYS)

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General rights Copyright for the publications made accessible via the Queen's University Belfast Research Portal is retained by the author(s) and / or other copyright owners and it is a condition of accessing these publications that users recognise and abide by the legal requirements associated with these rights. Abstract-This paper presents a new technique for exploration and mapping/surveying of underwater infrastructure and/or objects of interest, using multiple autonomous underwater vehicles (AUVs). The proposed method employs rotational potential fields, and extends them for use on multiple vehicles within a three dimensional environment. An inter-vehicle fluid formation is maintained throughout, free of angular constraints (or the need of a virtual vehicle). When an object of interest is approached, the formation is split and follows a smooth trajectory around opposite sides of its boundary. To fully utilise the potential of rotational fields, a unique local 2D-plane is created around every object within the 3D environment, which is employed for boundary coverage. Traditional artificial potential fields are used to guide vehicles towards each object in turn (and maintain the fluid formation), while rotational fields are employed within the local 2D-plane providing a smooth trajectory around opposing sides of every object. Simulation results show the method to be effective, providing a more stable trajectory. Comparison with the standard technique shows that the formation is maintained throughout and overall journey time is significantly reduced using this method.

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“…Over the last two decades, the performance of single autonomous underwater vehicles (AUVs) and group of multiple AUVs in cooperation play crucial roles in different important cases. Applications (Beard et al, 2001;Scharf et al, 2003;Stilwell and Bishop, 2000;Sahu et. al., 2012, Sahu et.…”

Section: Introductionmentioning

confidence: 99%

Potential function-based path-following control of an autonomous underwater vehicle in an obstacle-rich environment

Sahu

Subudhi

2016

Transactions of the Institute of Measurement and Control

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This paper presents the development of simple but powerful path-following and obstacle-avoidance control laws for an underactuated autonomous underwater vehicle (AUV). Potential function-based proportional derivative (PFPD) as well as a potential function-based augmented proportional derivative (PFAPD) control laws are developed to govern the motion of the AUV in an obstacle-rich environment. For obstacle avoidance, a mathematical potential function is used, which formulates the repulsive force between the AUV and the solid obstacles intersecting the desired path. Numerical simulations are carried out to study the efficacy of the proposed controllers and the results are observed. To reduce the values of the overshoots and steady-state errors identified due to the application of PFPD controller a PFAPD controller is designed that drives the AUV along the desired trajectory. From the simulation results, it is observed that the proposed controllers are able to drive the AUV to track the desired path, avoiding the obstacles in an obstacle-rich environment. The results are compared and it is observed that the PFAPD outperforms the PFPD to drive the AUV along the desired trajectory. It is also proved that it is not necessary to employ highly complicated controllers for solving obstacle-avoidance and path-following problems of underactuated AUVs. These problems can be solved with the application of PFAPD controllers.

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Flocking control of multiple autonomous underwater vehicles

Cited by 7 publications

References 15 publications

The effect of hull fineness ratio and fin parameters on the optimization of tethered aerostat

The effect of hull fineness ratio and fin parameters on the optimization of tethered aerostat

Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles

Potential function-based path-following control of an autonomous underwater vehicle in an obstacle-rich environment

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