國立虎尾科技大學 |

Cooperative control of collective motion for ocean sampling with autonomous vehicles.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Cooperative control of collective motion for ocean sampling with autonomous vehicles./
作者:	Paley, Derek A.
面頁冊數:	1 online resource (299 pages)
附註:	Source: Dissertations Abstracts International, Volume: 69-05, Section: B.
Contained By:	Dissertations Abstracts International69-05B.
標題:	Mechanical engineering. -
電子資源:	click for full text (PQDT)
ISBN:	9780549136453

Cooperative control of collective motion for ocean sampling with autonomous vehicles.
Paley, Derek A.

Cooperative control of collective motion for ocean sampling with autonomous vehicles. - 1 online resource (299 pages)

Source: Dissertations Abstracts International, Volume: 69-05, Section: B.

Thesis (Ph.D.)--Princeton University, 2007.

Includes bibliographical references

Cooperative control is an emerging engineering field infused with biology, mathematics, and physics. Cooperative control engineers seek decentralized algorithms to coordinate the motion of robotic vehicles. These algorithms-often inspired by animal and insect grouping behavior-are relevant to applications in national security, geographic surveying, and environmental monitoring. This dissertation studies motion control for autonomous data collection by a network of underwater vehicles. Measurements of ocean circulation enable scientists to study climate processes and ecosystems in the ocean. We describe a systematic methodology for decentralized feedback stabilization of autonomous vehicle formations. Vehicles are represented by self-propelled particles with coupled-phase oscillator dynamics. The orientation of each particle's velocity is described by a phase angle that changes in response to the positions and phases of other particles. Particle formations include parallel motion with arbitrary relative spacing and circular motion with symmetric relative spacing. Interaction between particles is modeled by a (state-dependent) graph that may be time-invariant or time-varying and undirected or directed. We apply a cooperative control methodology to control a fleet of autonomous underwater gliders. Underwater gliders soar through the water on a pair of fixed wings, collecting valuable oceanographic data for weeks at a time. We describe the Glider Coordinated Control System (GCCS), which steers multiple gliders to a set of coordinated trajectories. The GCCS automatically controlled up to six gliders continuously for over three weeks in a 800 km2 region in California's Monterey Bay in August 2006. The GCCS enables oceanographers to specify and adapt glider sampling patterns with minimal human intervention.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9780549136453Subjects--Topical Terms:

557493
Mechanical engineering.
Subjects--Index Terms:

Autonomous vehiclesIndex Terms--Genre/Form:

554714
Electronic books.

Cooperative control of collective motion for ocean sampling with autonomous vehicles.
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