Control of Open Contour Formations of Autonomous Underwater Vehicles | Zendy

Shahab Kalantar | Zendy; Uwe R. Zimmer | Zendy

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Control of Open Contour Formations of Autonomous Underwater Vehicles

Author(s) -

Shahab Kalantar,

Uwe R. Zimmer

Publication year - 2005

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5776

Subject(s) - computer science , underwater , controller (irrigation) , task (project management) , robot , chain (unit) , line (geometry) , base (topology) , control (management) , artificial intelligence , control theory (sociology) , geology , geometry , mathematics , oceanography , mathematical analysis , physics , management , astronomy , agronomy , economics , biology

In this paper, we propose a distributed elastic behaviour for a deformable chain-like formation of small autonomous underwater vehicles with the task of forming special shapes which have been explicitly defined or are defined by some iso-contour of an environmental concentration field. In the latter case, the formation has to move in such a way as to meet certain formation parameters as well as adapt to the iso-line. We base our controller on our previous models (for manually controlled end points) using general curve evolution theory but will also propose appropriate motions for the end robots of an open chain

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