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Volume 12, Issue 24 (1-2017)                   Marine Engineering 2017, 12(24): 23-39 | Back to browse issues page

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Sayyaadi H, Ghasemi I. Design of coordinated path following controller for multiple autonomous underwater vehicle considering obstacles and collision avoidance. Marine Engineering 2017; 12 (24) :23-39
URL: http://marine-eng.ir/article-1-462-en.html
Design of coordinated path following controller for multiple autonomous underwater vehicle considering obstacles and collision avoidance
Hassan Sayyaadi * 1, Iman Ghasemi1
1- Sharif University of Technology
Abstract:   (5053 Views)

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.

Keywords: Autonomous underwater vehicle, Coordinated path following, Graph theory, Obstacle and collision avoidance, Limit cycle
Full-Text [PDF 1484 kb]   (1669 Downloads)    
Type of Study: Research Paper | Subject: Submarine Hydrodynamic & Design
Received: 2016/01/11 | Accepted: 2016/11/27
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