Formation Control of AUV on the Base of Visual Tracking of AUV-Leader

Filaretov, Vladimir; Yukhimets, Dmitry

doi:10.1109/rusautocon52004.2021.9537566

Cited by 1 publication

(3 citation statements)

References 9 publications

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“…Even if errors in the appropriate control channels increase sharply, then they are quickly worked out by the control system. It should be noted that in comparison with the results of work in [23], the proposed approach allows for sufficiently accurate movement of the AUV-follower in the case of the spatial movement of the group, as well as with speeds of more than 1.4 times and twice the data update period from the onboard video camera. At the same time, the system [23] loses its operability under these conditions.…”

Section: The Simulation Resultsmentioning

confidence: 89%

“…Figure9shows the control signals generated by the control system in the second study in the presence of errors in the estimates of the position of the target point.It should be noted that in comparison with the results of work in[23], the proposed approach allows for sufficiently accurate movement of the AUV-follower in the case of the spatial movement of the group, as well as with speeds of more than 1.4 times and twice the data update period from the onboard video camera. At the same time, the system[23] loses its operability under these conditions.Thus, the simulation results confirmed the workability and effectiveness of the proposed new method of forming the AUV cooperative control using light beacons that can be placed not only on the AUV-leader, but also on those following. It allows the use of the AUV-followers with simple onboard equipment for forming a complex AUV group structure.…”

mentioning

confidence: 91%

“…In [23], the method for the control of the AUV-followers' movement based on the information received from their onboard video cameras is proposed. However, in this work, the estimation of the AUV-leader's speed relative to the follower was carried out using numerical differentiation of the estimation of the AUV-leader's position, which significantly reduced the accuracy of this estimation and, consequently, the control accuracy.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

The AUV-Follower Control System Based on the Prediction of the AUV-Leader Movement Using Data from the Onboard Video Camera

Yukhimets

Filaretov

2022

JMSE

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The paper proposes a new method for the synthesis of spatial motion control systems of the AUV-leader and a group of AUV-followers during their cooperative movement in a desired formation. This system allows the provision of an accurate positioning of the followers relative to the leader using information received with a low frequency only from their onboard video cameras. To improve the accuracy of the created system it proposes a method of estimation of the parameters of the movement of the AUV-leader (its speeds and accelerations) to predict its movement relative to the AUV-follower in the time intervals between the updates of information received from video cameras.