Coordinated Maneuver for Gradient Search Using Multiple AUV's

Detalhes bibliográficos
Autor(a) principal: Martins, Alfredo
Data de Publicação: 2003
Outros Autores: Almeida, José, Silva, Eduardo
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/6986
Resumo: OCEANS 2003. Proceedings (Volume:1 )
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spelling Coordinated Maneuver for Gradient Search Using Multiple AUV'sNavigationOceanographic equipmentUnderwater vehiclesOCEANS 2003. Proceedings (Volume:1 )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.IEEERepositório Científico do Instituto Politécnico do PortoMartins, AlfredoAlmeida, JoséSilva, Eduardo2015-11-23T15:35:30Z20032003-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/6986eng10.1109/OCEANS.2003.178583metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:47:18Zoai:recipp.ipp.pt:10400.22/6986Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:27:25.333729Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Coordinated Maneuver for Gradient Search Using Multiple AUV's
title Coordinated Maneuver for Gradient Search Using Multiple AUV's
spellingShingle Coordinated Maneuver for Gradient Search Using Multiple AUV's
Martins, Alfredo
Navigation
Oceanographic equipment
Underwater vehicles
title_short Coordinated Maneuver for Gradient Search Using Multiple AUV's
title_full Coordinated Maneuver for Gradient Search Using Multiple AUV's
title_fullStr Coordinated Maneuver for Gradient Search Using Multiple AUV's
title_full_unstemmed Coordinated Maneuver for Gradient Search Using Multiple AUV's
title_sort Coordinated Maneuver for Gradient Search Using Multiple AUV's
author Martins, Alfredo
author_facet Martins, Alfredo
Almeida, José
Silva, Eduardo
author_role author
author2 Almeida, José
Silva, Eduardo
author2_role author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Martins, Alfredo
Almeida, José
Silva, Eduardo
dc.subject.por.fl_str_mv Navigation
Oceanographic equipment
Underwater vehicles
topic Navigation
Oceanographic equipment
Underwater vehicles
description OCEANS 2003. Proceedings (Volume:1 )
publishDate 2003
dc.date.none.fl_str_mv 2003
2003-01-01T00:00:00Z
2015-11-23T15:35:30Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
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dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/6986
url http://hdl.handle.net/10400.22/6986
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1109/OCEANS.2003.178583
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dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
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repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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