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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    Title :

    Application of Formation Control for Multi-Vehicle Robotic Minesweeping


    Contributors:

    Publication date :

    2001


    Size :

    7 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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