Advertisement

Formation Control of Marine Surface Vessels Using the Null-Space-Based Behavioral Control

  • F. Arrichiello
  • S. Chiaverini
  • T.I. Fossen
Chapter
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 336)

Abstract

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.

Keywords

Mobile Robot Behavioral Control Unmanned Aerial Vehicle Obstacle Avoidance Formation Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin/Heidelberg 2006

Authors and Affiliations

  • F. Arrichiello
    • 1
  • S. Chiaverini
    • 1
  • T.I. Fossen
    • 2
  1. 1.Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale, Università degli Studi di Cassino, via G. Di Biasio 43, 03043 Cassino (FR)Italy
  2. 2.Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 TrondheimNorway

Personalised recommendations