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1- Northern Research Center for Science & Technology, Malek Ashtar University of Technology
Abstract: (65 Views)
With the increasing complexity of underwater missions, researchers have become very interested in designing and manufacturing Autonomous Underwater Vehicles (AUVs) with ability of cooperative motion. In performing a complex mission, a cooperative systems have a special advantage over a single vehicle. The aim of this article is to design an intelligent controller to control a group of AUVs with a robust leader-follower architecture. In the leader-follower formation control system, we also use behavior-based cooperative control in the design of the algorithm, so that the cooperative control system does not fail in during disturbance environmental and unforeseen events. To validation of the proposed method in different conditions and in the presence of possible defects, simulation in the MATLAB software has been used.
Type of Study: Research Paper |
Subject:
Submarine Hydrodynamic & Design
Received: 2023/12/18 | Accepted: 2024/05/12
Received: 2023/12/18 | Accepted: 2024/05/12
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