Application of Formation Control for Multi-Vehicle Robotic Minesweeping; Conference paper

摘要

In an effort to find low cost solutions to Naval minesweeping, a fleet of robot minesweepers equipped with detection sensors and acoustic/magnetic devices is proposed. To ensure maximum sweeping all vehicle movements are coordinated through a supervisor vehicle that determines if vehicles are lost to mine detonation, and re-tasks, as needed, the remaining vehicles to follow tracks left by lost vehicles. A computer program has been developed to evaluate control logic linking supervisor and worker vehicles. The algorithms for track control and vehicle ID reassignment are given and example results shown.