Accession Number:

ADA446093

Title:

Decentralized Control of Multiple Autonomous Underwater Vehicles

Descriptive Note:

Final rept. 1 Jun 2003-31 Dec 2005

Corporate Author:

IDAHO UNIV MOSCOW DEPT OF MECHANICAL ENGINEERING

Personal Author(s):

Report Date:

2006-03-29

Pagination or Media Count:

10.0

Abstract:

The authors investigated approaches for designing the control and communication structure for fleets of autonomous underwater vehicles. They developed human-operated surface ships to provide an inexpensive method for testing these algorithms for possible use on fleets of multiple vehicles. The testing was performed at the NSWCCD ARD in Bayview, Idaho it demonstrated a formation control algorithm that minimizes the communication needed to maintain formation. The system is a variation of a leader-follower formation where the leader periodically broadcasts its position to all the vehicles. This formation was shown to be robust and tolerant to loss of communication or the loss of any vehicle including the leader in computer simulations with a program developed at NAVSEA CSS called ALWSE-MC. The simulations show that the algorithm can be expanded to control a large number of vehicles. Preliminary measurements and analysis of the performance of a two-hydrophone sensor were performed. This sensor can be used to provide an update of the leaders location every time the leader pings for navigation or communicates in any way.

Subject Categories:

  • Cybernetics
  • Submarine Engineering
  • Acoustic Detection and Detectors
  • Underwater and Marine Navigation and Guidance
  • Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE