This paper is concerned with the development of control strategies for autonomous mission planning of a multiple UUV (Unhabitated Underwater Vehicle) that cooperate in order to perform a number of tasks. Missions of this type include multi-agent reconnaissance and multi-agent mine sweeping problems. The mission planning problem is posed as a receding horizon mixed integer constrained model based predictive control problem. This is subsequently partitioned into smaller subproblems and solved in a decentralised manner using a distributed Nash-based game approach. The paper presents further development of the method and gives a detailed example to demonstrate the main features of the control method and its implementation.
Autonomous control of clusters of UUVS
Autonome Steuerung von Gruppen von unbemannten Unterwasserfahrzeugen
2007
6 Seiten, 3 Bilder, 12 Quellen
(nicht paginiert)
Conference paper
Storage medium
English
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