Abstract
Hybrid-driven underwater glider (HUG) is a new type of autonomous underwater vehicles (AUVs). An HUG fleet can extend the ability of individual vehicles and increase mission efficiency. This paper presents motion planning and obstacle avoidance of multi-HUG formation using the artificial potential field (APF) method and Kane's method. The artificial potential fields used for formation motion control are constructed for particular mission requirement, ocean environment, and formation geometry. Multi-HUG formation with the artificial potential fields is regarded as a multibody system, in which HUGs are constrained by the virtual forces derived from the artificial potential fields. Kane's method for dynamic analysis of multibody systems is used to study the dynamic characteristics of motion of the multi-HUG formation. Combination of the APF method and Kane's method offers the advantage that coordinated control and motion planning of the formation can be implemented simultaneously. A case of a three-HUG formation is provided to demonstrate the methodology for clarity.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
