Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

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...

Full description

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:
Online Access:http://www.intechopen.com/articles/show/title/coordinated-formation-control-of-multiple-autonomous-underwater-vehicles-for-pipeline-inspection
id doaj-26d71481979d4b7f930441a4c9ddc398
record_format Article
spelling doaj-26d71481979d4b7f930441a4c9ddc3982020-11-25T03:34:23ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142010-02-0171Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline InspectionXianbo XiangBruno JouvencelOlivier ParodiThis 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, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection. http://www.intechopen.com/articles/show/title/coordinated-formation-control-of-multiple-autonomous-underwater-vehicles-for-pipeline-inspectionautonomous underwater vehiclepipeline inspectionpath followingleader-followercoordinated formation control
collection DOAJ
language English
format Article
sources DOAJ
author Xianbo Xiang
Bruno Jouvencel
Olivier Parodi
spellingShingle Xianbo Xiang
Bruno Jouvencel
Olivier Parodi
Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection
International Journal of Advanced Robotic Systems
autonomous underwater vehicle
pipeline inspection
path following
leader-follower
coordinated formation control
author_facet Xianbo Xiang
Bruno Jouvencel
Olivier Parodi
author_sort Xianbo Xiang
title Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection
title_short Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection
title_full Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection
title_fullStr Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection
title_full_unstemmed Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection
title_sort coordinated formation control of multiple autonomous underwater vehicles for pipeline inspection
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8806
1729-8814
publishDate 2010-02-01
description 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, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.
topic autonomous underwater vehicle
pipeline inspection
path following
leader-follower
coordinated formation control
url http://www.intechopen.com/articles/show/title/coordinated-formation-control-of-multiple-autonomous-underwater-vehicles-for-pipeline-inspection
work_keys_str_mv AT xianboxiang coordinatedformationcontrolofmultipleautonomousunderwatervehiclesforpipelineinspection
AT brunojouvencel coordinatedformationcontrolofmultipleautonomousunderwatervehiclesforpipelineinspection
AT olivierparodi coordinatedformationcontrolofmultipleautonomousunderwatervehiclesforpipelineinspection
_version_ 1724559070535352320