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Robust Cooperative Moving Path Following Control for Marine Robotic Vehicles
Matheus F Reis1, R Praveen Jain1, A Pedro Aguiar1
1Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, Porto, Portugal.
Frontiers in Robotics and AI
|January 27, 2021
Summary
This study introduces robust cooperative motion control for marine robots, enabling coordinated path following for tasks like underwater target tracking. The research ensures reliable navigation and coordination in dynamic environments.
Area of Science:
- Robotics
- Control Systems
- Ocean Engineering
Background:
- Coordinated control of marine robotic vehicles is crucial for complex tasks.
- Existing methods may lack robustness in dynamic underwater environments.
Purpose of the Study:
- To develop and present robust motion control strategies for Cooperative Moving Path Following (CMPF) in marine robotic fleets.
- To enable coordinated navigation along a moving target frame while achieving specific objectives.
Main Methods:
- Proposing two distinct robust Moving Path Following control strategies.
- Utilizing inter-vehicle communication for cooperative task execution.
- Implementing and testing strategies on marine vehicles.
Main Results:
- Demonstrated successful application of CMPF for source localization and underwater target tracking.
- Experimental validation of the proposed control strategies.
- Provided stability and convergence guarantees for the CMPF task.
Conclusions:
- The developed CMPF strategies offer robust coordinated motion control for marine robotic fleets.
- The methods are effective for practical applications such as underwater surveillance and tracking.
- The research contributes to advancements in autonomous marine systems coordination.
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