788.11J Presentation“Multi-AUV Control”

Presented By

Mukundan Sridharan

The Main Idea

• Cooperative control of

multiple Autonomous

Underwater Vehicle (AUV),

using VBAP

• VBAP: Virtual Body and

Artificial Potentials

– Adaptable formation Control,

based on sensor feedback

– Design in 3D space

– Bounded Error

– Design dynamics for the VB,

like rotation, dilation.

The Main Achievements and Contribution

• Making it work

• VBAP Algorithm

• Glider Simulator

• Implementation Design

Implementation Design

The Challenges

•Underwater Communication (?)

•The unpredictable external water currents

– By considering the previous current measurements when

calculating new mission paths.

•Latency:

– The GPS location is one cycle old

– The current estimate is two cycle old.

A Slocum Glider developed by Webb Research Corporation

Results

Centroid Error

Innovation

•The design of the glider

–Buoyancy engine

–No external thrust

•Satellite based Communication

Reference

• Multi-AUV Control and Adaptive Sampling in Monterey Bay

.