788.11J Presentation

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788.11J PresentationMulti-AUV
ControlPresented ByMukundan Sridharan
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The Main Idea

• Cooperative control of multiple Autonomous
  Underwater Vehicle (AUV), using VBAP
• VBAP Virtual Body and Artificial Potentials
• Adaptable formation Control, based on sensor
  feedback
• Design in 3D space
• Bounded Error
• Design dynamics for the VB, like rotation,
  dilation.

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The Main Achievements and Contribution

• Making it work
• VBAP Algorithm
• Glider Simulator
• Implementation Design

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Implementation Design
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The Challenges

• Underwater Communication (?)
• The unpredictable external water currents
• By considering the previous current measurements
  when calculating new mission paths.
• Latency
• The GPS location is one cycle old
• The current estimate is two cycle old.

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A Slocum Glider developed by Webb Research
Corporation
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Results
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Centroid Error
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Innovation

• The design of the glider
• Buoyancy engine
• No external thrust
• Satellite based Communication

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Reference

• Multi-AUV Control and Adaptive Sampling in
  Monterey Bay.