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Cooperative mapping and exploration using counter-rotational potential fields
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McIntyre, David, Naeem, Wasif and Zhang, Cheng (2016) Cooperative mapping and exploration using counter-rotational potential fields. In: 27th Irish Signals and Systems Conference (ISSC), Derry, NI, 21-22 Jun 2016. Published in: 2016 27th Irish Signals and Systems Conference (ISSC) pp. 1-7. ISBN 9781509034093. doi:10.1109/ISSC.2016.7528455
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Official URL: http://dx.doi.org/10.1109/ISSC.2016.7528455
Abstract
This paper presents a novel technique for mapping and exploration using cooperating autonomous underwater vehicles. Rather than using the typical lawnmower sweep pattern to search an entire area, the proposed navigational plan involves guiding the formation directly towards each object of interest in turn, before arriving at a final goal position. This is achieved by the use of traditional artificial potential fields alongside counter-rotational potential fields. These clockwise and counter-clockwise fields are employed simultaneously by vehicles to ensure that the entire object is scanned rather than simply avoided as is the case with traditional collision avoidance techniques. The proposed methodology allows a formation to have fluid-like motion whilst a separation distance between cooperating agents (free of angular constraints) is maintained with a greater degree of flexibility than traditional formation control approaches. Owing to its nature, this technique is suited for applications such as exploration, mapping and underwater inspection to name a few. Simulation results demonstrate the efficacy of the proposed approach.
Item Type: | Conference Item (Paper) | ||||
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||
Journal or Publication Title: | 2016 27th Irish Signals and Systems Conference (ISSC) | ||||
Publisher: | IEEE | ||||
ISBN: | 9781509034093 | ||||
Book Title: | 2016 27th Irish Signals and Systems Conference (ISSC) | ||||
Official Date: | 4 August 2016 | ||||
Dates: |
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Page Range: | pp. 1-7 | ||||
DOI: | 10.1109/ISSC.2016.7528455 | ||||
Status: | Peer Reviewed | ||||
Publication Status: | Published | ||||
Access rights to Published version: | Restricted or Subscription Access | ||||
Conference Paper Type: | Paper | ||||
Title of Event: | 27th Irish Signals and Systems Conference (ISSC) | ||||
Type of Event: | Conference | ||||
Location of Event: | Derry, NI | ||||
Date(s) of Event: | 21-22 Jun 2016 |
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