Abstract
We consider an application of control over a wireless network to coordinate members of a small school of free-swimming underwater vehicles. While these vehicles are capable of limited speed modulation, we restrict them to swimming at constant forward speed. The control task in consideration requires the school to track a moving target whose speed could be considerably less than that of the pursuit vehicles. The coordination task is achieved using an ad-hoc communication network of ultra-low frequency radios, which provide short-range communication links. We report on underwater communication technologies, the design of the coordinating controller, and the application of the controller to a network of robotic fish​.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
The circling oscillatory mode does not produce circular trajectories relative to the target. Such circular orbits are incompatible with velocity matching. Instead, by circling we mean that the heading winds around once per period.
References
J. M. Anderson and P. A. Kerrebrock. The vorticity control unmanned undersea vehicle (VCUUV)-An autonomous vehicle employing fish swimming propulsion and maneuvering. In International Symposium on Unmanned Untethered Submersible Technology, pages 189–195, 1997.
P. K. Bettale. Design of a reliable embedded radio transceiver module with applications to autonomous underwater vehicle systems. Master’s thesis, University of Washington, 2008.
X. Deng and S. Avadhanula. Biomimetic micro underwater vehicle with oscillating fin propulsion: system design and force measurement. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pages 3312–3317, 2005.
C. C. Eriksen, T. J. Osse, R. D. Light, T. Wen, T. W. Lehman, P. L. Sabin, J. W. Ballard, and A. M. Chiodi. Seaglider: A long-range autonomous underwater vehicle for oceanographic research. IEEE Journal of Oceanic Engineering, 26(4):424–436, 2001.
E. Fiorelli, N. E. Leonard, P. Bhatta, D. A. Paley, R. Bachmayer, and D. M. Fratantoni. Multi-AUV control and adaptive sampling in Monterey Bay. IEEE Journal of Oceanic Engineering, 31(4):935, 2006.
D. Kingston and R. Beard. UAV Splay State Configuration for Moving Targets in Wind. LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES, 369:109, 2007.
D. J. Klein. Coordinated Control and Estimation for Multi-agent Systems: Theory and Practice. PhD thesis, University of Washington, 2008.
D. J. Klein, P. K. Bettale, B. I. Triplett, and K. A. Morgansen. Autonomous underwater multivehicle control with limited communication: Theory and experiment. In Proceedings of the Second IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, April 2008.
D. J. Klein, P. Lee, K. A. Morgansen, and T. Javidi. Integration of communication and control using discrete time Kuramoto models for multivehicle coordination over broadcast networks. In IEEE Conference on Decision and Control, pages 13–19, December 2007.
D. J. Klein and K. A. Morgansen. Controlled collective motion for trajectory tracking. In Proc. Amer. Contr. Conf, 2006.
E. Lalish, K. A. Morgansen, and T. Tsukamaki. Oscillatory control for constant-speed unicycle-type vehicles. In Decision and Control, 2007 46th IEEE Conference on, pages 5246–5251, 2007.
N. E. Leonard, D. A. Paley, F. Lekien, R. Sepulchre, D. M. Fratantoni, and R. E. Davis. Collective motion, sensor networks, and ocean sampling. PROCEEDINGS-IEEE, 95(1):48, 2007.
K. A. Morgansen, B. I. Triplett, and D. J. Klein. Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles. IEEE Transactions on Robotics, 23(6):1184–1199, 2007.
U. S. Supreme Court Ruling. Winter v. Natural Resources Defense Council, October 2008.
B. I. Triplett, D. J. Klein, and K. A. Morgansen. Discrete time Kuramoto models with delay. Lecture Notes in Control and Information Sciences, 331:9, 2006.
C. Zhou, Z. Cao, S. Wang, and M. Tan. The posture control and 3-D locomotion implementation of biomimetic robot fish. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 5406–5411, 2006.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer Science+Business Media, LLC
About this chapter
Cite this chapter
Klein, D.J., Gupta, V., Morgansen, K.A. (2011). Coordinated Control of Robotic Fish Using an Underwater Wireless Network. In: Mazumder, S. (eds) Wireless Networking Based Control. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-7393-1_13
Download citation
DOI: https://doi.org/10.1007/978-1-4419-7393-1_13
Published:
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4419-7392-4
Online ISBN: 978-1-4419-7393-1
eBook Packages: EngineeringEngineering (R0)