1 / 10

FREE sub NET MCRTN-CT-2006-036186

Mid Term Review Andreas J. Häusler. FREE sub NET MCRTN-CT-2006-036186. Andreas Häusler. Country of Origin: Germany Host Organisation: IST Lisbon Start Date: August 1 st , 2007 Project Title: Cooperative Navigation and Motion Control of Multiple Autonomous Marine Vehicles

chase
Download Presentation

FREE sub NET MCRTN-CT-2006-036186

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Mid Term Review Andreas J. Häusler FREEsubNET MCRTN-CT-2006-036186

  2. Andreas Häusler Country of Origin:Germany Host Organisation: IST Lisbon Start Date: August 1st, 2007 Project Title: Cooperative Navigation and Motion Control of Multiple Autonomous Marine Vehicles Contribution to Network: FSN Tasks 1.0, 1.1, 1.2, 5.1, 5.2

  3. Achievements to date Publications: 6 Internal Reports, Seminar Talks Workshops & conferences: NGCUV ‘08 Participation in tests: GREX Azores ‘08 Secondments: NTNU Norway, Fall ‘09 Training: Lectures on Dynamical Linear and Non-Linear Systems and Optimization, Seminars on current topics of research

  4. Technical Summary • TheProblem • Multiplevehiclemissionsrequirethevehiclestobe in formation • Aninitialformation has tobeestablishedbeforethemissionstarts • Vehiclescannotbedeployed in formation • Needtogetthevehiclesintoinitialformation ResearchVessel

  5. Technical Summary • The solution • Simultaneousarrivalat designated positions and orientations Rigoroussolutionbasedonoptimizationtechniquesand a new polynomialpathparametrization: • Avoidcollisionsuntilmission control takesover • Consider time, energy and vehicleconstraints

  6. Coordinated Target Tracking Moving Target Path Fitting Sonar, GPS, acoustic data Leading pursuer Cooperative Path Following Data Smoothing Path Sequence

  7. Technical Summary • Related Work within FREEsubNET • How do wedealwith “deviationsfromthe plan”? (wind, currents, etc.) • Use cooperativepathfollowing! (Methods are available – IST, NTNU) • First Results • (seethe video) LINK TO THE VIDEO

  8. Collaborative work Work with other members of the Network (ToK) Yana Lizunkova (UWTH) Mara Schmiing (IMAR) Mernout Burger (NTNU) Francesco Orsenigo (HCMR) Fausto Ferreira (CNR) Work with other institutions NTNU: Developing Algorithms on Path Planning and Path Following IMAR: GREX Azores ‘08 Sea Trials

  9. Forward Plan Technical Plan

  10. Forward Plan Collaborative Plan

More Related