Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range
Résumé
This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control which includes the Laplacian matrix of the communication graph (fixed or distance-dependent). The system was implemented in computersimulation, accessible though Web1.
Domaines
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