Control of Coordinated Patterns for Ocean Sampling
Fumin Zhang, David M. Fratantoni, Derek Paley, John Lund and Naomi Ehrich Leonard
International Journal of Control, special issue on Navigation, Guidance and Control of
Uninhabited Underwater Vehicles, Vol. 80, No. 7, July 2007, pp. 1186-1199.
A class of underwater vehicles
are modelled as Newtonian
particles for navigation and control.
We show a general method that controls cooperative Newtonian particles to generate patterns on
closed smooth curves. These patterns are chosen for good sampling performance using mobile sensor
We measure the spacing between neighbouring particles by the relative
curve phase along the curve.
The distance between a particle and the desired curve is measured using an orbit function. The orbit
value and the relative curve phase are then used as feedback to control
motion of each particle. From an arbitrary initial configuration, the
particles converge asymptotically to form
an invariant pattern on the desired curve.
We describe application of this method to control underwater gliders
in a field experiment
in Buzzards Bay, MA in March 2006.
(1.3 MB pdf)
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