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.


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    Title :

    Autonomous control of clusters of UUVS


    Additional title:

    Autonome Steuerung von Gruppen von unbemannten Unterwasserfahrzeugen


    Contributors:


    Publication date :

    2007


    Size :

    6 Seiten, 3 Bilder, 12 Quellen


    Remarks:

    (nicht paginiert)


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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