788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan.

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Presentation transcript:

788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan

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.

The Main Achievements and Contribution Making it work VBAP Algorithm Glider Simulator Implementation Design

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.

A Slocum Glider developed by Webb Research Corporation

Results

Centroid Error

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

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