NDLI: Coordinated maneuver for gradient search using multiple AUVs

Content Provider	IEEE Xplore Digital Library
Author	Martins, A. Almeida, J.M. Silva, E.
Copyright Year	2003
Description	Author affiliation: Inst. Superior de Engenharia, Porto Univ., Portugal (Martins, A.; Almeida, J.M.; Silva, E.)
Abstract	The coordinated use of multiple Autonomous Underwater Vehicles can provide important advantages for oceanographic missions. One important mission application scenario can be the search of underwater plumes such as sources of freshwater of hydrothermal vents. These plumes characterize the environment by creating a gradient field of some measurable physical quantity. An innovative integrated acoustic navigation system and coordination control maneuver for a formation of 3 AUVs and 1 surface craft to gradient search and following missions is proposed. The specific formation geometry and topology takes in account the navigation and coordination requirements. It was designed to achieve an efficient, low cost and technically feasible solution. The system can operate in 3 modes depending on formation distances. Varying pinging rates and offsets are used to communicate parameters and mode changing. No additional underwater communication systems neither acoustic transponder deployment are needed for the vehicle coordination. This way a high degree of energy efficiency and overall mission low cost and simpler logistics is achieved. The hybrid nature of the coordinating maneuver allows the formation gradient survey and following with the efficient exploitation of the environment structuring by the phenomena to be studied. The individual control laws were designed in order to minimize the inter-vehicle communication. The coordination factors are the knowledge by the vehicles of each other behavior (since all vehicles execute the same control laws) and the detection of formation distortions. These distortions are detected by the relative navigation system. The proposed approach allows the low cost implementation of a multiple AUV coordinating control for a large range of oceanographic missions.
Sponsorship	Dept. of the Navy Sci. and Technol. Coalition for Enhanced Marine Resources Orincon Ceros Harbour Offshore Inc
Starting Page	347
Ending Page	352
File Size	447172
Page Count	6
File Format	PDF
ISBN	0933957300
DOI	10.1109/OCEANS.2003.178583
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Navigation Costs Communication system control Underwater vehicles Underwater acoustics Acoustic distortion Vents Acoustic measurements Sea measurements Control systems
Content Type	Text
Resource Type	Article

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