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Multi-AUVs formation control with acoustic communication constraints
Xu HL(徐红丽); Li GN(李冠男)
Conference NameOCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common
Conference DateSeptember 23-26, 2013
Conference PlaceSan Diego, CA, United states
Source PublicationOCEANS 2013 MTS/IEEE; San Diego: An Ocean in Common
PublisherIEEE Computer Society
Publication PlaceWashington, DC
Indexed ByEI ; CPCI(ISTP)
EI Accession number20141317500308
WOS IDWOS:000334165800080
Contribution Rank1
KeywordAlgorithms Experiments Oceanography Underwater Acoustics
AbstractFormation control has received significant attention in the field of multiple autonomous underwater vehicles (AUVs) in recent years. There are many theoretical methods for solving this problem. But when applying these methods to an actual multiple AUVs system, communication constraints need to be considered because acoustic communication among multiple AUVs often is unreliable in actual ocean environment. This paper focuses on application and validation of a leader-follower approach on multi-AUVs formation maintenance with acoustic communication constraints. The communication interval between AUVs and packet loss rate are researched based on experiments. A leader-follower formation control algorithm based on a Line-Of- Sight guidance law is proposed. The simulation and experiment results show that the proposed method is effective and feasible when keeping a formation with a long delay of underwater acoustic communication, and it is also suitable for short-time communication interruption.
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Document Type会议论文
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GB/T 7714
Xu HL,Li GN. Multi-AUVs formation control with acoustic communication constraints[C]. Washington, DC:IEEE Computer Society,2013.
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