{"title":"巡航型自动潜航器上带有动态航点的领队-跟队编队控制特性","authors":"Toshifumi Fujiwara","doi":"10.17736/ijope.2024.jc929","DOIUrl":null,"url":null,"abstract":"The navigation situation and its results from National Maritime Research Institute cruising autonomous underwater vehicles (AUVs) with formation control are presented in this paper. The AUV navigation is assumed by a control on leader-follower formation applicable to various underwater measurements. The navigation order as dynamic waypoints for AUV communication is modeled by a graph theory while being easily modified to suit the purpose. In this paper, the effectiveness and impact of the waypoint indication intervals from a leader AUV to a follower AUV are clarified in assuming to conduct undersea exploration based on the navigational performance of an actual AUV.","PeriodicalId":503139,"journal":{"name":"International Journal of Offshore and Polar Engineering","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Leader-Follower Formation Control Characteristics with Dynamic Way Point on Cruising AUVs\",\"authors\":\"Toshifumi Fujiwara\",\"doi\":\"10.17736/ijope.2024.jc929\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The navigation situation and its results from National Maritime Research Institute cruising autonomous underwater vehicles (AUVs) with formation control are presented in this paper. The AUV navigation is assumed by a control on leader-follower formation applicable to various underwater measurements. The navigation order as dynamic waypoints for AUV communication is modeled by a graph theory while being easily modified to suit the purpose. In this paper, the effectiveness and impact of the waypoint indication intervals from a leader AUV to a follower AUV are clarified in assuming to conduct undersea exploration based on the navigational performance of an actual AUV.\",\"PeriodicalId\":503139,\"journal\":{\"name\":\"International Journal of Offshore and Polar Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Offshore and Polar Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.17736/ijope.2024.jc929\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Offshore and Polar Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.17736/ijope.2024.jc929","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Leader-Follower Formation Control Characteristics with Dynamic Way Point on Cruising AUVs
The navigation situation and its results from National Maritime Research Institute cruising autonomous underwater vehicles (AUVs) with formation control are presented in this paper. The AUV navigation is assumed by a control on leader-follower formation applicable to various underwater measurements. The navigation order as dynamic waypoints for AUV communication is modeled by a graph theory while being easily modified to suit the purpose. In this paper, the effectiveness and impact of the waypoint indication intervals from a leader AUV to a follower AUV are clarified in assuming to conduct undersea exploration based on the navigational performance of an actual AUV.
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