Multiple UUV Leader-Follower Control Using Optical Feedback
Research for unmanned underwater vehicles plays an important role in further understanding of the ocean, with an underlying theme of safer data gathering. In order to expand the usefulness of unmanned vehicles, research has come forth on the subject relating to swarm control of underwater and surface vehicles. With a broader scope of large scale ocean mapping and potential usefulness for detection of unknown objects, swarm control for underwater ROVs can offer dramatic improvements for large scale data collection.
Dynamic positioning of unmanned underwater vehicles (UUVs) while utilizing optical sensory feedback will allow for a leader-follower control system to be established between a leader remotely operated vehicle (ROV) and multiple autonomous unmanned vehicles (AUVs). The follower UUVs will receive the optical input from the leader ROV and will convert the data into relative pose information. From this information, control action is taken to adjust posture and position of the robot with relation to the leader. This system will assure a uniform grid-shape structure of the leader-follower group.
The UNH ROV team works collaboratively with graduate students and other organizations with the combined goal of completing well documented research on dynamic positioning using optical sensory feedback. The UNH ROV team’s ROV builds play a role as a testing platform for the optical sensory feedback system. As more ROVs are built, optical sensory feedback control will be used to control more and more follower systems. Although optical feedback is useful, it has limitations for control in cloudy waters, with a maximum sensory length of 8 to 10 meters in clear water.