Formation control of underwater vehicles using Multi Agent System

• Autorzy: Das Bikramaditya , Subudhi Bidyadhar , Pati Bibhuti Bhusan

Identyfikatory

DOI

10.24425/acs.2020.133503

• Języki publikacji: EN

Abstrakty

EN

This paper proposes the development of a formation control algorithm of multiple acoustic underwater vehicles by employing the behaviour of autonomous mobile agents under a proposed pursuit. A robust pursuit is developed using the distributed consensus coordinated algorithm ensuring the transfer of information among the AUVs. The development of robust pursuit based on characteristics of multi-agent system is for solving the incomplete information capabilities in each agent such as asynchronous computation, decentralized data and no system global control. In unreliable and narrow banded underwater acoustic medium, the formation of AUVs based distributed coordinated consensus tracking can be accomplished under the constant or varying virtual leader’s velocity. Further, the study to achieve tracking based on virtual leader AUV’s velocity is extended to fixed and switching network topologies. Again for mild connectivity, an adjacency matrix is defined in such a way that an adaptive connectivity is ensured between the AUVs. The constant virtual leader vehicle velocity method based on consensus tracking is more robust to reduce inaccuracy because no accurate position and velocity measurements are required. Results were obtained using MATLAB and acquired outcomes are analysed for efficient formation control in presence of the underwater communication constraints.

Słowa kluczowe

EN

AUV; Multi Agent System; formation control; switching network topology; mild connectivity

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2020
• Tom: Vol. 30, No. 2
• Strony: 365--384
• Opis fizyczny: Bibliogr. 39 poz., rys., tab., wykr., wzory

Twórcy

autor

Das Bikramaditya

• Department of Electronics & Telecommunication Engineering, VSS University of Technology, Burla-768018, Odisha, India

autor

Subudhi Bidyadhar

• School of Electrical Sciences, Indian Institute of Technology, Goa, India

autor

Pati Bibhuti Bhusan

• Department of Electronics & Telecommunication Engineering, VSS University of Technology, Burla-768018, Odisha, India

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).