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Description of the media files:
The MPEG files are simulation results of my control algorithm. For details of
the algorithm, please see the reference. In “Triangle_dist,” a triangular
or a wedge formation is maintained throughout the simulation. The leader has
pre-programmed waypoints (shown as circles) so that the fleet performs a “mow
the lawn” search. A cross current disturbance is applied to test the robustness
of the system. From the simulation result, it is clear that maintenance of the
formation shape results in inefficient turns and larger search time. In order
to solve this problem, a formation swap maneuver is introduced. In the formation
swap maneuver, trajectories of the followers are swapped with those of “virtual
followers” to make the turning radii the same. The simulation result is
given in “swap_dist.”
Reference:
Okamoto, Akira. “Robust Control of a Platoon of Autonomous Underwater
Vehicles”. M.S. Thesis. University of Idaho. Dec, 2003.
