DESIGN OF COORDINATED PATH FOLLOWING CONTROLLER FOR MULTIPLE AUTONOMOUS UNDERWATER VEHICLE CONSIDERING OBSTACLES AND COLLISION AVOIDANCE

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SAYYAADI HASSAN; GHASEMI IMAN

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Journal: JOURNAL OF MARINE ENGINEERING Year:2017 | Volume:12 | Issue:24 Page(s): 23-39

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Title

DESIGN OF COORDINATED PATH FOLLOWING CONTROLLER FOR MULTIPLE AUTONOMOUS UNDERWATER VEHICLE CONSIDERING OBSTACLES AND COLLISION AVOIDANCE

Author(s)

SAYYAADI HASSAN | GHASEMI IMAN | Issue Writer Certificate

Keywords

AUTONOMOUS UNDERWATER VEHICLEQ1

COORDINATED PATH FOLLOWINGQ1

GRAPH THEORYQ1

OBSTACLE AND COLLISION AVOIDANCEQ1

LIMIT CYCLEQ1

Abstract

In this paper the problem of COORDINATED PATH FOLLOWING for a group of AUTONOMOUS UNDERWATER VEHICLE (AUV) subjected to OBSTACLE AND COLLISION AVOIDANCE is considered. At first a back stepping controller is used for an AUV to design a path following controller and its stability is examined via Lyapunov criteria. Then using of GRAPH THEORY, modeling of interconnection between AUV systems is addressed and by this modeling the COORDINATED PATH FOLLOWING controller for multiple AUV is designed. After all the problem of obstacles and collision avoidance is considered appropriately. For this purpose, each obstacle involving a LIMIT CYCLE of an ellipse and if the collision or conflict of one AUV to the surrounded environmental obstacles will be detected, the obstacle avoidance algorithm is activated to prevent collision. Also the same algorithm for collision avoidance in between all AUV systems in the group is implemented. Finally the depicted results illustrate the effectiveness and performances of the proposed controller apparently for a sample AUV, which its hydrodynamics coefficients are available in references.

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APA: Copy

SAYYAADI, HASSAN, & GHASEMI, IMAN. (2017). DESIGN OF COORDINATED PATH FOLLOWING CONTROLLER FOR MULTIPLE AUTONOMOUS UNDERWATER VEHICLE CONSIDERING OBSTACLES AND COLLISION AVOIDANCE. JOURNAL OF MARINE ENGINEERING, 12(24), 23-39. SID. https://sid.ir/paper/60815/en

Vancouver: Copy

SAYYAADI HASSAN, GHASEMI IMAN. DESIGN OF COORDINATED PATH FOLLOWING CONTROLLER FOR MULTIPLE AUTONOMOUS UNDERWATER VEHICLE CONSIDERING OBSTACLES AND COLLISION AVOIDANCE. JOURNAL OF MARINE ENGINEERING[Internet]. 2017;12(24):23-39. Available from: https://sid.ir/paper/60815/en

IEEE: Copy

HASSAN SAYYAADI, and IMAN GHASEMI, “DESIGN OF COORDINATED PATH FOLLOWING CONTROLLER FOR MULTIPLE AUTONOMOUS UNDERWATER VEHICLE CONSIDERING OBSTACLES AND COLLISION AVOIDANCE,” JOURNAL OF MARINE ENGINEERING, vol. 12, no. 24, pp. 23–39, 2017, [Online]. Available: https://sid.ir/paper/60815/en

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