Application of Formation Control for Multiple Vehicle Robotic Minesweeping
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Authors
Healey, Anthony J.
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2001
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Abstract
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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Conference Paper
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Paper # CDC-INV-3103, Proceedings of the IEEE CDC-2001, Orlando, FL, December 2001
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Citation
Healey, A. "Application of Formation Control for Multiple Vehicle Robotic Minesweeping" Paper # CDC-INV-3103, Proceedings of the IEEE CDC-2001, Orlando, FL, December 2001
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.