1 / 10

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

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

shafira-riddle
Download Presentation

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

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 788.11J Presentation“Multi-AUV Control”Presented ByMukundan Sridharan

  2. 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.

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

  4. Implementation Design

  5. 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.

  6. A Slocum Glider developed by Webb Research Corporation

  7. Results

  8. Centroid Error

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

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

More Related