788 11j presentation multi auv control presented by mukundan sridharan
Download
Skip this Video
Download Presentation
788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan

Loading in 2 Seconds...

play fullscreen
1 / 10

788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan - PowerPoint PPT Presentation


  • 55 Views
  • Uploaded on

788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan. The Main Idea. Cooperative control of multiple Autonomous Underwater Vehicle (AUV), using VBAP VBAP: Virtual Body and Artificial Potentials Adaptable formation Control, based on sensor feedback Design in 3D space

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about ' 788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan' - shafira-riddle


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.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
the main idea
The Main Idea
  • Cooperative control of multiple Autonomous Underwater Vehicle (AUV), using VBAP
  • VBAP: Virtual Body and Artificial Potentials
    • Adaptable formation Control, based on sensor feedback
    • Design in 3D space
    • Bounded Error
    • Design dynamics for the VB, like rotation, dilation.
the main achievements and contribution
The Main Achievements and Contribution
  • Making it work
  • VBAP Algorithm
  • Glider Simulator
  • Implementation Design
the challenges
The Challenges
  • Underwater Communication (?)
  • The unpredictable external water currents
    • By considering the previous current measurements when calculating new mission paths.
  • Latency:
    • The GPS location is one cycle old
    • The current estimate is two cycle old.
innovation
Innovation
  • The design of the glider
    • Buoyancy engine
    • No external thrust
  • Satellite based Communication
reference
Reference
  • Multi-AUV Control and Adaptive Sampling in Monterey Bay.
ad