Three Dimensional Formation Control to Pursue an Underwater Evader Utilizing Underwater Robots Measuring the Sound Generated From the Evader

Sungyun Choi,Jonghoek Kim

doi:10.1109/access.2019.2948049

Sungyun Choi, Jonghoek Kim

Open Access

https://doi.org/10.1109/access.2019.2948049

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Abstract

This manuscript considers a team of Unmanned Underwater Vehicles (UUVs) such that each UUV measures the arrival time of sound signal generated from the evader. The purpose of the UUV team is to intercept the underwater evader based on the arrival time measurements. We present both the motion control for the UUV team and the algorithm to estimate the evader position in real time. In this manuscript, the UUVs chase the evader while preserving a 3D spherical formation. Moreover, the formation size is controlled adaptively to assure the convergence of the evader estimation. Our tracking approach doesn't require global localization of every UUV. The proposed approach only requires that the central UUV measures the relative position of any other UUV using proximity sensors. Simulations are utilized to verify the effectiveness of the proposed method.

Highlights

Nowadays, Unmanned Underwater Vehicles (UUVs) are utilized for many purposes, such as underwater survey or chasing targets. This manuscript considers a team of UUVs such that each UUV measures the arrival time of sound signal generated from the evader
Every UUV measures the arrival time of sound signal generated from the evader
As far as we know, this manuscript is unique in utilizing multiple UUVs for tracking an evader in 3D environments, considering the case where every UUV measures the arrival time of sound signal generated from the evader

Summary

INTRODUCTION

Nowadays, Unmanned Underwater Vehicles (UUVs) are utilized for many purposes, such as underwater survey or chasing targets. Active sonar pings cannot reach a long distance, cannot be used to detect a far-field evader In this manuscript, every UUV measures the arrival time of sound signal generated from the evader. As far as we know, this manuscript is unique in utilizing multiple UUVs for tracking an evader in 3D environments, considering the case where every UUV measures the arrival time of sound signal generated from the evader. TIME DIFFERENCE OF ARRIVAL (TDOA) IN THE LOCAL COORDINATE FRAME In this article, M UUVs are utilized such that every UUV measures a sound signal generated from an evader. A UUV locates the relative position of the evader utilizing the Time Difference of Arrival (TDOA) information of the evader. The authors of [49] discussed the rigorous derivation of (8)

THE ASSUMPTIONS AND DEFINITIONS

SIMULATIONS

CONCLUSION