Application of Formation Control for Multi-Vehicle Robotic Minesweeping
Abstract
In an effort to find low cost solutions to Naval minesweeping, a fleet of robot minesweepers equipped with detection sensors and acoustic/magnetic devices is proposed. To ensure maximum sweeping all vehicle movements are coordinated through a supervisor vehicle that determines if vehicles are lost to mine detonation, and re-tasks, as needed, the remaining vehicles to follow tracks left by lost vehicles. A computer program has been developed to evaluate control logic linking supervisor and worker vehicles. The algorithms for track control and vehicle ID reassignment are given and example results shown.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 2001
- Accession Number
- ADA484205
Entities
People
- Anthony J. Healey
Organizations
- Naval Postgraduate School