A modification of the flocking algorithm approach for a swarm of underwater vehicles is introduced. The proposed approach relaxes the symmetry of the inter vehicle interaction. It is thus possible to change the swarm spatial configuration assuming different formations with varying parameters. The swarm geometry is changed with a very limited effort, exploiting the capability of the flocking approach to make emerge a large scale arrangement. Examples of proposed variations are provided. The vehicles are dynamically modelled and the relative non holonomic proportional derivative controller is described. Experimental data are gathered from many vehicle physical simulations and graphically presented. Copyright © 2012 SciTePress.
|Publication status||Published - 2012|
|Event||9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012 - , Italy|
Duration: 1 Jan 2012 → …
|Conference||9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012|
|Period||1/1/12 → …|
All Science Journal Classification (ASJC) codes
- Information Systems
- Control and Systems Engineering
Chiesa, S., Taraglio, S., Pagnottelli, S., & Valigi, P. (2012). Flocking approach to spatial configuration control in underwater swarms. Paper presented at 9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012, Italy.