In an effort to find low cost solutions to Naval minesweeping, a fleet of robot minesweepers equipped with detection sensors and acoustic/magnetic devices is proposed. To ensure maximum sweeping all vehicle movements are coordinated through a supervisor vehicle that determines if vehicles are lost to mine detonation, and re-tasks, as needed, the remaining vehicles to follow tracks left by lost vehicles. A computer program has been developed to evaluate control logic linking supervisor and worker vehicles. The algorithms for track control and vehicle ID reassignment are given and example results shown.


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    Titel :

    Application of Formation Control for Multi-Vehicle Robotic Minesweeping


    Beteiligte:
    A. J. Healey (Autor:in)

    Erscheinungsdatum :

    2001


    Format / Umfang :

    7 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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