قاسمی, ایمان

[ 1 ] - طراحی کنترلگر تعقیب مسیر هماهنگ برای گروه شناور زیرسطحی با در نظر گرفتن مسئله اجتناب از برخورد

In this paper the problem of coordinated path following for a group of Autonomous Underwater Vehicle (AUV) subjected to obstacle and collision avoidance is considered. At first a back stepping controller is used for an AUV to design a path following controller and its stability is examined via Lyapunov criteria. Then using of graph theory, modeling of interconnection between AUV systems is addr...