[1]YUAN Jian,ZHOU Zhonghai,JIN Guanghu,et al.Large-scale formation control for autonomous underwater vehicles based on Kalman filtering[J].CAAI Transactions on Intelligent Systems,2013,8(4):344-348.[doi:10.3969/j.issn.1673-4785.201304033]
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Large-scale formation control for autonomous underwater vehicles based on Kalman filtering

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 4 Page number: 344-348 Column: 学术论文—智能系统 Public date: 2013-08-25
Title:
Large-scale formation control for autonomous underwater vehicles based on Kalman filtering
Author(s):
YUAN Jian1; 2;  ZHOU Zhonghai1; 2;  JIN Guanghu1; 2;  XU Juan1; 2;  LI Junxiao1; 2
1. Shandong Provincial Key Laboratory of Ocean Environment Monitoring Technology, Qingdao 266001, China; 2. Institute of Oceanographic Instrumentation of Shandong Academy of Sciences, Qingdao 266001, China
Keywords:
autonomous underwater vehicle;  Kalman filtering;  consensus;  large-scale formation control
CLC:
TP273
DOI:
10.3969/j.issn.1673-4785.201304033
Abstract:
Aiming at investigating the influence of environmental noise on autonomous underwater vehicles(AUV) formation control, a formation control for estimating AUV optimal motion states in real time is proposed. We modeled multiple AUVs with larger interval in space as a multi-agent system in order to investigate the large-scale formation control. Each AUV is embedded with one global Kalman filter to obtain the optimal estimation of each AUV speed states. And thus the optimal position of AUV in a noisy environment can be calculated by the optimal estimation with the global filter. Finally, some simulations were demonstrated to show the effectiveness of the proposed formation control scheme.
References:
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Last Update: 2013-09-25

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