Swarm based Path-Following for Cooperative Unmanned Surface Vehicles
نویسندگان
چکیده
This paper proposes a swarm-based path-following guidance system for an autonomous marine multi-vehicle system. In particular, a team of Unmanned Surface Vehicles USVs is required to converge to and navigate along a desired reference path, while at the same time aggregating and maintaining a range-based formation configuration. Firstly, a separate description is given for a swarm methodology, initially developed for small ground mobile robots and exploited to aggregate the robot team, and a virtual target based path-following guidance system developed for USVs, exploited to drive not the single vehicles but the robot formation as a whole. Then, the integration of the two proposed methodologies is reported and proven, in order to guarantee the feasibility and stability of the overall guidance framework. Simulative results are proposed to validate the effectiveness of the proposed methodology and to evaluate the system performances.
منابع مشابه
Collaborative Coordination and Control for an Implemented Heterogeneous Swarm of UAVs and UGVs
Over the last few years, cooperative autonomous systems have become a more popular solution for accomplishing tasks that are otherwise performed by human operators. Several strides have been made with homogeneous systems of vehicles in areas of localization, formation behaviors, path planning, task allocation, and vehicle controls. This paper describes both work completed and the future goals i...
متن کاملCooperative Electronic Attack for Groups of Unmanned Air Vehicles based on Multi-agent Simulation and Evaluation
In this paper, the issue of path planning is addressed for unmanned air vehicles (UAVs) cooperative joint-forces electronic attack operating in a hostile environment. Specifically, the objective is to plan path to a target location in a way that minimizes exposure to threats while keeping fuel usage at acceptable levels. We consider a scenario where a group of UAVs flies in a close formation an...
متن کاملEfficient cooperative search of smart targets using UAV Swarms
This work examines the Cooperative Hunters problem, where a swarm of unmanned air vehicles (UAVs) is used for searching after one or more “evading targets”, which are moving in a predefined area while trying to avoid a detection by the swarm. By arranging themselves into efficient geometric flight configurations, the UAVs optimize their integrated sensing capabilities, enabling the search of a ...
متن کاملCoordinated Target Assignment and Intercept for Unmanned Air Vehicles
This paper presents an end-to-end solution to the cooperative control problem represented by the scenario where unmanned air vehicles (UAVs) are assigned to transition through known target locations in the presence of dynamic threats. The problem is decomposed into the subproblems of: 1) cooperative target assignment; 2) coordinated UAV intercept; 3) path planning; 4) feasible trajectory genera...
متن کاملAdaptive Experimental Design for Path-following Performance Assessment of Unmanned Vehicles
The definition of Good Experimental Methodologies (GEMs) in robotics is a topic of widespread interest due also to the increasing employment of robots in everyday civilian life. The present work contributes to the ongoing discussion on GEMs for Unmanned Surface Vehicles (USVs). It focuses on the definition of GEMs and provides specific guidelines for path-following experiments. Statistically de...
متن کامل