期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 29, 期 6, 页码 2287-2298出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2020.3035476
关键词
Target tracking; Protocols; Estimation; Convergence; Trajectory; Sea surface; Multi-agent systems; Autonomous surface vehicles (ASVs); formation control; multi-agent systems; tracking
资金
- Knut and Alice Wallenberg Foundation
- Swedish Research Council
- Swedish Foundation for Strategic Research
- Research Council of Norway [Norwegian University of Science and Technology (NTNU)-AMOS] [223254]
- Swedish Maritime Administration
- NTNU Centre for Autonomous Marine Operations and Systems
This article investigates the collaborative tracking of underwater targets using ASVs, employing a distance-based formation control protocol with collision-avoidance potential function. The protocol is proven effective and enhances system endurance, as demonstrated through experimental results.
In this article, the problem of collaborative tracking of an underwater target using autonomous surface vehicles (ASVs) is studied. Distance-based formation control with a collision-avoidance potential function is employed as a solution. A formation control protocol is devised and applied to the formation tracking problem. With the protocol, the vehicles form a desired formation around a moving target in order to continuously estimate its position, while the centroid of the formation tracks the target. Almost global stability is proved for the case with three tracking agents. A fully operational platform with four ASVs was built to implement the derived algorithms. One of the vehicles was used to simulate a target and the rest to form a triangular formation around it. Power usage of a naval vessel is highly affected by water resistance forces which increases significantly with the velocity. This was accounted for by adding an additional term to the formation tracking protocol, thereby increasing the overall system endurance. Experimental results are presented.
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