Formation Control of Marine Surface Vessels Using the Null-Space-Based Behavioral Control
In this paper the application of the Null-Space-Based behavioral control (NSB) to a fleet of marine surface vessels is presented. From a marine applications point of view, the NSB can be considered as a guidance system that dynamically selects the motion reference commands for each vessel of the fleet. These motion commands are aimed at guiding the fleet in complex environments simultaneously performing multiple tasks, i.e., obstacle avoidance or keeping a formation. In order to apply the guidance system to a fleet of surface vessels through the entire speed envelope (fully-actuated at low velocities, under-actuated at high velocities), the NSB works in combination with a low-level maneuvering control that, taking care of the dynamic models of the vessels, elaborates the motion commands to obtain the generalized forces at the actuators. The guidance system has been simulated while successfully performing complex missions in realistic scenarios.
KeywordsMobile Robot Behavioral Control Unmanned Aerial Vehicle Obstacle Avoidance Formation Control
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