Tracking Controllers to Chase a Target Using Multiple Autonomous Underwater Vehicles Measuring the Sound Emitted From the Target

초록

This article considers a team of autonomous underwater vehicles (AUVs) such that each AUV measures the arrival time of sound wave emitted from the target. The goal of the AUV team is to capture the target based on the arrival time measurements. This article presents both the tracking controller for the AUV team and the algorithm to estimate the target location in real time. In this article, the AUVs chase the target while preserving a circle formation. The proposed approach is to control the center of the formation, such that the line-of-sight (LOS) between the target and the center is parallel at every sampling step. Moreover, we control the formation size adaptively to avoid the divergence of the target estimation. As far as we know, this article is unique in utilizing the multiple AUVs to track one target, considering the case in which every AUV measures the arrival time of sound wave emitted from the target. MATLAB simulations are used to verify the effectiveness of the proposed approach.

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