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Authors: Umesh Neettiyath and Asokan Thondiyath

Affiliation: Indian Institute of Technology Madras, India

Keyword(s): Underwater Robots, Leader Follower Control, Formation Control, AUV, Multirobot Systems.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Network Robotics ; Robot Design, Development and Control ; Robotics and Automation ; Space and Underwater Robotics ; Vehicle Control Applications

Abstract: Multi robot coordination and control for underwater robots is an area of significant importance in many underwater missions. A new approach for leader follower formation control of multi AUV systems is explored in this paper. The controller estimates the next desired position of the follower robot from the past and current positions of the leader and follower robots. The control signals are then issued to the follower robot to align it to the estimated trajectory. This control scheme has the capability to compensate for initial errors and follow the leader under various operational scenarios. The development of the controller and simulation results for selected scenarios are presented. The results show that the proposed method is simple and computationally efficient.

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Paper citation in several formats:
Neettiyath, U. and Thondiyath, A. (2012). Improved Leader Follower Formation Control of Autonomous Underwater Vehicles using State Estimation. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 472-475. DOI: 10.5220/0004042104720475

@conference{icinco12,
author={Umesh Neettiyath. and Asokan Thondiyath.},
title={Improved Leader Follower Formation Control of Autonomous Underwater Vehicles using State Estimation},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={472-475},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004042104720475},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Improved Leader Follower Formation Control of Autonomous Underwater Vehicles using State Estimation
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Neettiyath, U.
AU - Thondiyath, A.
PY - 2012
SP - 472
EP - 475
DO - 10.5220/0004042104720475
PB - SciTePress

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