Formation transformation of multi-underwater glider system

Wei Lan; Xiang Jin; Xin Chang; Tianlin Wang; Han Zhou

doi:10.1117/12.2639383

27 June 2022 Formation transformation of multi-underwater glider system

Wei Lan, Xiang Jin, Xin Chang, Tianlin Wang, Han Zhou

Proceedings Volume 12253, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2022); 122531S (2022) https://doi.org/10.1117/12.2639383
Event: Second International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2022), 2022, Qingdao, China

Abstract

In this work, a simple single underwater glider motion model is established. By using the multi-body system theory, the active and inertia force are unified into the generalized force, and the dynamic equation of the multi-underwater glider system is described. The maintenance and transformation of formation are discussed based on potential field method. Based on the continuous potential field function and by introducing the virtual leader, a method of constructing stable formation with arbitrary shape based on mesh-shaped formation is given. Finally, based on the virtual rigid body structure constructed by virtual leader, a fast formation construction and transformation method is realized, and the feasibility of the method is verified by simulation experiments.

Citation Download Citation

Wei Lan, Xiang Jin, Xin Chang, Tianlin Wang, and Han Zhou "Formation transformation of multi-underwater glider system", Proc. SPIE 12253, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2022), 122531S (27 June 2022); https://doi.org/10.1117/12.2639383

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