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Obstacle Avoidance Control Algorithm for Multi Agent Autonomous Underwater Vehicle

Ghasemi, Iman | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48169 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan
  7. Abstract:
  8. According to the importance of obstacle and collision avoidance for multiple Autonomous underwater vehicle (AUV) that are synchronized for starting the path following, in this study the coordination path following controller for a group of underactuated underwater vehicle with considering of obstacle and collision avoidance presented. The proposed control method is based on graph theory and back stepping with modeling of obstacle using limit cycle. At first, for controller design the back stepping method for path following of one AUV is used. Then the designed controller using of principles of graph theory, has been extended for multiple AUV and as the result multiple AUV is synchronized and then make the desired formation. Also In this study the problem of avoiding agents with obstacle are considered. In the event of collision hazard one of AUV’s with obstacle, a stable limit cycle around the obstacle designed and then the obstacle avoidance controller act and the risk of avoiding of agent with obstacle eliminated. This includes problem of avoiding collision of one agent with other agents as well. The features of this study is designed controller based of full dynamic of AUV and the communication between agents modeling with graph theory. Also in this study the problem of collision and obstacle avoidance is considered using limit cycle method.
    Finally simulation results are presented. For this purpose, three AUV are described that to achieve the linear arrangement. The results clearly show that three agents make linear and harmonic motion. Then several obstacle as well as dynamic and static in workspace is also considered. The simulation results show that the appropriate controller is designed in such a way that the obstacle and collision avoidance problem is solved
  9. Keywords:
  10. Autonomous Underwater Vehicle ; Graph Theory ; Back-Stepping Method ; Limit Cycles ; Obstacle Avoidance ; Collision Avoidance ; Goordinated Group Movement

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