Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

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This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, dr...

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Bibliographic Details
Main Authors: Xianbo Xiang, Bruno Jouvencel, Olivier Parodi
Format: Article
Language:English
Published: SAGE Publishing 2010-02-01
Series:International Journal of Advanced Robotic Systems
Subjects:
autonomous underwater vehicle
pipeline inspection
path following
leader-follower
coordinated formation control
Online Access:http://www.intechopen.com/articles/show/title/coordinated-formation-control-of-multiple-autonomous-underwater-vehicles-for-pipeline-inspection

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http://www.intechopen.com/articles/show/title/coordinated-formation-control-of-multiple-autonomous-underwater-vehicles-for-pipeline-inspection

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