Formation Maneuvering Using Passive Acoustic Communications

Abstract

Interest in the use of unmanned underwater vehicles (UUVs) for both commercial and military uses is growing. Control of UUVs poses a difficult problem because traditional methods of communication and navigation, i.e. radio and GPS, are not effective due to the properties of seawater. Control and communication algorithms were developed to carry out multiple UUV formation maneuvering using acoustic communications and first tested in computer simulation and then on mobile robots. Three control schemes, classic logic, behavior, and neural network were tested in line formations in both simulator and lab environments. Results and issues are discussed along with future directions.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2003
Accession Number
ADA426503

Entities

People

  • Brian S. Bourgeois
  • Patrick Mcdowell
  • Sundaraja Sitharama Iyengar

Organizations

  • United States Naval Research Laboratory

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Sensors

DTIC Thesaurus Topics

  • Acoustic Communications
  • Acoustics
  • Algorithms
  • Collision Avoidance
  • Communication Systems
  • Computer Science
  • Control Systems
  • Environment
  • Frequency
  • Machine Learning
  • Matched Filters
  • Navigation
  • Neural Networks
  • Radio Communications
  • Simulations
  • Simulators
  • Unmanned Underwater Vehicles

Readers

  • Acoustical Oceanography.
  • Robotics and Automation.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers