Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

Xia, Xiang; Jouvencel, B.; Parodi, O.

doi:10.5772/7242

Cited by 106 publications

(46 citation statements)

References 16 publications

(28 reference statements)

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“…Under the proposed controllers, all signals in the closed-loop system are guaranteed to be GUUB. Compared with the previous results of the problem of cooperative path following of AUVs/MSVs [2][3][4][5][6]14,15,19,27,28,43], the advantages of the proposed designs are listed as follows:…”

mentioning

confidence: 96%

“…On the other hand, a major assumption in cooperative path following design of [2,3,5,14,15,27,28] is the global knowledge of the reference velocity. In spite of leading to decentralized control laws whereby only exchange of path variables among the vehicles and the information exchange is kept minimum, they all assume that the common reference speed is available to all vehicles and develop control laws that make use of this information.…”

mentioning

confidence: 99%

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Globally Stable Adaptive Dynamic Surface Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles

Wang¹,

Liu

2017

Asian Journal of Control

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The cooperative path following problem of multiple underactuated autonomous underwater vehicles (AUVs) involves two tasks. The first one is to force each AUV to converge to the desired parameterized path. The second one is to satisfy the requirement of a cooperative behavior along the paths. In this paper, both of the tasks have been further studied. For the first one, a simplified path following controller is proposed by incorporating the dynamic surface control (DSC) technique to avoid the calculation of derivatives of virtual control signals. Besides, in order to handle the uncertain dynamics, a new type of neural network (NN) adaptive controller is derived, and then an NN based energy-efficient path following controller is firstly proposed, which consists of an adaptive neural controller dominating in the neural active region and an extra robust controller working outside the neural active region. For the second one, in order to reduce the amount of communications between multiple AUVs, a distributed estimator for the reference common speed is firstly proposed as determined by the communications topology adopted, which means the global knowledge of the reference speed is relaxed for the problem of cooperative path following. The overall algorithm ensures that all the signals in the closed-loop system are globally uniformly ultimately bounded (GUUB) and the output of the system converges to a small neighborhood of the reference trajectory by properly choosing the design parameters. Simulation results validate the performance and robustness of the proposed strategy.

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confidence: 96%

mentioning

confidence: 99%

Globally Stable Adaptive Dynamic Surface Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles

Wang¹,

Liu

2017

Asian Journal of Control

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“…A solution that decouples the controllers for formation shape, formation motion and vehicle orientation, but requires position information is proposed in [11]. Coordinated path following approaches are presented in [12] and [13], the latter specifically dealing with underwater pipeline inspection. These assume that the path to be followed is known to all vehicles, and generally work by exchanging some along-path synchronization measure.…”

Section: A Related Workmentioning

confidence: 99%

Joint ASV/AUV range-based formation control: Theory and experimental results

Soares¹,

Aguiar

Pascoal³

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles.

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“…Coordinated path following approaches are presented in [12] and [13], the latter specifically dealing with underwater pipeline inspection. These strategies assume that the path to be followed is known to all vehicles, and generally work by exchanging some along-path synchronisation measure.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Range-Based Formation Controller for Marine Robots

Soares

Aguiar

Pascoal

et al. 2014

ROBOT2013: First Iberian Robotics Conference

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Abstract. There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positioning and formation control becomes mandatory in many of the missions envisioned, which require the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites. However, the constraints placed by the underwater medium make it hard to both communicate and localise the vehicles, even in relation to each other, let alone maintain them in a formation. As a contribution to overcoming some of these problems, this paper deals with the problem of keeping an autonomous marine vehicle in a moving triangular formation with respect to two leader vehicles. Simple feedback laws are derived to drive a controlled vehicle to its intended position in the formation using acoustic ranges obtained to the leading vehicles with no knowledge of the formation path. The paper discusses the implementation of this solution in the MEDUSA class of autonomous marine vehicles operated by IST and describes the results of trials with these vehicles exchanging information and ranges over an acoustic network.

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Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

Cited by 106 publications

References 16 publications

Globally Stable Adaptive Dynamic Surface Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles

Globally Stable Adaptive Dynamic Surface Control for Cooperative Path Following of Multiple Underactuated Autonomous Underwater Vehicles

Joint ASV/AUV range-based formation control: Theory and experimental results

Design and Implementation of a Range-Based Formation Controller for Marine Robots

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