Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2017, Article ID 7619086, 14 pages
https://doi.org/10.1155/2017/7619086
Research Article

Formation Control of Unmanned Surface Vehicles with Sensing Constraints Using Exponential Remapping Method

1State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China

Correspondence should be addressed to Jing-Yang Liu; nc.ude.utjs@uil_yj

Received 18 May 2017; Revised 6 August 2017; Accepted 14 August 2017; Published 13 September 2017

Academic Editor: Jean Jacques Loiseau

Copyright © 2017 Jian Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. Z. Peng, D. Wang, Z. Chen, X. Hu, and W. Lan, “Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics,” IEEE Transactions on Control Systems Technology, vol. 21, no. 2, pp. 513–520, 2013. View at Publisher · View at Google Scholar · View at Scopus
  2. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, “A vision-based formation control framework,” IEEE Transactions on Robotics and Automation, vol. 18, no. 5, pp. 813–825, 2002. View at Publisher · View at Google Scholar · View at Scopus
  3. L. Consolini, F. Morbidi, D. Prattichizzo, and M. Tosques, “Leader-follower formation control of nonholonomic mobile robots with input constraints,” Automatica. A Journal of IFAC, the International Federation of Automatic Control, vol. 44, no. 5, pp. 1343–1349, 2008. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  4. R. Cui, S. S. Ge, B. Voon Ee How, and Y. Sang Choo, “Leader-follower formation control of underactuated autonomous underwater vehicles,” Ocean Engineering, vol. 37, no. 17-18, pp. 1491–1502, 2010. View at Publisher · View at Google Scholar · View at Scopus
  5. G. L. Mariottini, F. Morbidi, D. Prattichizzo et al., “Vision-based localization for leader-Follower formation control,” IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1431–1438, 2009. View at Publisher · View at Google Scholar · View at Scopus
  6. R. W. Beard, J. Lawton, and F. Y. Hadaegh, “A coordination architecture for spacecraft formation control,” IEEE Transactions on Control Systems Technology, vol. 9, no. 6, pp. 777–790, 2001. View at Publisher · View at Google Scholar · View at Scopus
  7. H. Mehrjerdi, J. Ghommam, and M. Saad, “Nonlinear coordination control for a group of mobile robots using a virtual structure,” Mechatronics, vol. 21, no. 7, pp. 1147–1155, 2011. View at Publisher · View at Google Scholar · View at Scopus
  8. T. Balch and R. C. Arkin, “Behavior-based formation control for multirobot teams,” IEEE Transactions on Robotics and Automation, vol. 14, no. 6, pp. 926–939, 1998. View at Publisher · View at Google Scholar · View at Scopus
  9. F. Arrichiello, S. Chiaverini, and T. I. Fossen, “Formation control of underactuated surface vessels using the null-spaee-based behavioral control,” in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, pp. 5942–5947, chn, October 2006. View at Publisher · View at Google Scholar · View at Scopus
  10. J. A. Fax and R. M. Murray, “Information flow and cooperative control of vehicle formations,” Institute of Electrical and Electronics Engineers. Transactions on Automatic Control, vol. 49, no. 9, pp. 1465–1476, 2004. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  11. X. Cai and M. D. Queiroz, “Adaptive rigidity-based formation control for multirobotic vehicles with dynamics,” IEEE Transactions on Control Systems Technology, vol. 23, no. 1, pp. 389–396, 2015. View at Publisher · View at Google Scholar · View at Scopus
  12. W. Dong and J. A. Farrell, “Formation control of multiple underactuated surface vessels,” IET Control Theory Applications, vol. 2, no. 12, pp. 1077–1085, 2008. View at Publisher · View at Google Scholar · View at MathSciNet
  13. V. Gazi and R. Ordóñez, “Target tracking using artificial potentials and sliding mode control,” International Journal of Control, vol. 80, no. 10, pp. 1626–1635, 2007. View at Publisher · View at Google Scholar · View at MathSciNet
  14. I.-A. F. Ihle, J. Jouffroy, and T. I. Fossen, “Formation control of marine surface craft: a lagrangian approach,” IEEE Journal of Oceanic Engineering, vol. 31, no. 4, pp. 922–934, 2006. View at Publisher · View at Google Scholar · View at Scopus
  15. M. Breivik, V. E. Hovstein, and T. I. Fossen, “Ship formation control: A guided leader-follower approach,” in IFAC Proceedings Volumes (IFAC-PapersOnline), vol. 17, pp. 16008–16014, 1 edition, 2008. View at Google Scholar · View at Scopus
  16. M. Burger, A. Pavlov, E. Borhaug, and K. Y. Pettersen, “Straight line path following for formations of underactuated surface vessels under influence of constant ocean currents,” in Proceedings of the 2009 American Control Conference, ACC 2009, pp. 3065–3070, 2009. View at Publisher · View at Google Scholar · View at Scopus
  17. E. Kyrkjebø, K. Y. Pettersen, M. Wondergem, and H. Nijmeijer, “Output synchronization control of ship replenishment operations: theory and experiments,” Control Engineering Practice, vol. 15, no. 6, pp. 741–755, 2007. View at Publisher · View at Google Scholar · View at Scopus
  18. J. Ghommam and M. Saad, “Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan,” International Journal of Control, vol. 87, no. 5, pp. 1076–1093, 2014. View at Publisher · View at Google Scholar · View at MathSciNet
  19. B. S. Park, “Adaptive formation control of underactuated autonomous underwater vehicles,” Ocean Engineering, vol. 96, pp. 1–7, 2015. View at Publisher · View at Google Scholar · View at Scopus
  20. E. Borhaug, A. Pavlov, R. Ghabcheloo, K. Pettersen, A. Pascoal, and C. Silvestre, “Formation control of underactuated marine vehicles with communication constraints,” in Proceedings of the in Proceedings 7th IFAC Conference on Manoeuvring and Control of Marine Craft, 2006.
  21. R. Ghabcheloo, A. P. Aguiar, A. Pascoal, C. Silvestre, I. Kaminer, and J. Hespanha, “Coordinated path-following in the presence of communication losses and time delays,” SIAM Journal on Control and Optimization, vol. 48, no. 1, pp. 234–265, 2009. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  22. J. P. Desai, J. P. Ostrowski, and V. Kumar, “Modeling and control of formations of nonholonomic mobile robots,” IEEE Transactions on Robotics and Automation, vol. 17, no. 6, pp. 905–908, 2001. View at Publisher · View at Google Scholar · View at Scopus
  23. K. D. Do, “Bounded controllers for formation stabilization of mobile agents with limited sensing ranges,” Institute of Electrical and Electronics Engineers. Transactions on Automatic Control, vol. 52, no. 3, pp. 569–576, 2007. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  24. A. Ganguli, J. Cortés, and F. Bullo, “Multirobot rendezvous with visibility sensors in nonconvex environments,” IEEE Transactions on Robotics, vol. 25, no. 2, pp. 340–352, 2009. View at Publisher · View at Google Scholar · View at Scopus
  25. K. D. Do, “Practical formation control of multiple underactuated ships with limited sensing ranges,” Robotics and Autonomous Systems, vol. 59, no. 6, pp. 457–471, 2011. View at Publisher · View at Google Scholar · View at Scopus
  26. D. Panagou and K. J. Kyriakopoulos, “Cooperative formation control of underactuated marine vehicles for target surveillance under sensing and communication constraints,” in Proceedings of the 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, pp. 1871–1876, deu, May 2013. View at Publisher · View at Google Scholar · View at Scopus
  27. P. Salaris, D. Fontanelli, L. Pallottino, and A. Bicchi, “Shortest paths for a robot with nonholonomic and field-of-view constraints,” IEEE Transactions on Robotics, vol. 26, no. 2, pp. 269–281, 2010. View at Publisher · View at Google Scholar · View at Scopus
  28. S. Maniatopoulos, D. Panagou, and K. J. Kyriakopoulos, “Model predictive control for the navigation of a nonholonomic vehicle with field-of-view constraints,” in Proceedings of the 2013 1st American Control Conference, ACC 2013, pp. 3967–3972, 2013. View at Scopus
  29. J. Woo and N. Kim, “Vision-based target motion analysis and collision avoidance of unmanned surface vehicles,” Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment, vol. 230, no. 4, pp. 566–578, 2016. View at Publisher · View at Google Scholar · View at Scopus
  30. H. Wang, X. Mou, W. Mou et al., “Vision based long range object detection and tracking for unmanned surface vehicle,” in Proceedings of the 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015, pp. 101–105, khm, July 2015. View at Publisher · View at Google Scholar · View at Scopus
  31. A. J. Sinisterra, M. R. Dhanak, and K. Von Ellenrieder, “Stereo vision-based target tracking system for an USV,” in Proceedings of the 2014 Oceans-St. John's, OCEANS 2014, pp. 1–7, 2014. View at Publisher · View at Google Scholar · View at Scopus
  32. Y. Cho, J. Park, M. Kang, and J. Kim, “Autonomous detection and tracking of a surface ship using onboard monocular vision,” in Proceedings of the 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, pp. 26–31, kor, October 2015. View at Publisher · View at Google Scholar · View at Scopus
  33. J. Wang, J.-Y. Liu, and H. Yi, “Formation control of unmanned surface vehicles with vision sensor constraints,” in Proceedings of the MTS/IEEE Washington, OCEANS 2015, Wash, USA, October 2015. View at Scopus
  34. D. Chwa, “Global tracking control of underactuated ships with input and velocity constraints using dynamic surface control method,” IEEE Transactions on Control Systems Technology, vol. 19, no. 6, pp. 1357–1370, 2011. View at Publisher · View at Google Scholar · View at Scopus
  35. T. I. Fossen, Guidance and Control of Ocean Vehicles, John Wiley and Sons Inc., 1994.
  36. X. Li, J. Xiao, and Z. Cai, “Backstepping based multiple mobile robots formation control,” in Proceedings of the IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, pp. 1313–1318, can, August 2005. View at Publisher · View at Google Scholar · View at Scopus
  37. K. D. Do, Z. P. Jiang, and J. Pan, “Underactuated ship global tracking under relaxed conditions,” Institute of Electrical and Electronics Engineers. Transactions on Automatic Control, vol. 47, no. 9, pp. 1529–1536, 2002. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus