Collective dynamics and control of a fleet of heterogeneous marine vehicles

Wang, Chuanfeng

Title:

Collective dynamics and control of a fleet of heterogeneous marine vehicles

dc.contributor.advisor	Schaefer, Dirk
dc.contributor.author	Wang, Chuanfeng
dc.contributor.committeeMember	Zhang, Fumin
dc.contributor.committeeMember	Howard, Ayanna M.
dc.contributor.committeeMember	Ueda, Jun
dc.contributor.committeeMember	Jiao, Jianxin
dc.contributor.department	Mechanical Engineering
dc.date.accessioned	2014-01-13T16:48:50Z
dc.date.available	2014-01-13T16:48:50Z
dc.date.created	2013-12
dc.date.issued	2013-11-08
dc.date.submitted	December 2013
dc.date.updated	2014-01-13T16:48:50Z
dc.description.abstract	Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV. In addition, in some situations, a human-driven underwater vehicle (HUV) and a group of AUVs need to collaborate and preform formation behaviors. However, the collective dynamics of a fleet of heterogeneous underwater vehicles are more complex than the non-trivial single vehicle dynamics, resulting in challenges in analyzing the formation behaviors of a fleet of heterogeneous underwater vehicles. The research addressed in this dissertation investigates the collective dynamics and control of a fleet of heterogeneous underwater vehicles, including multi-AUV systems and systems comprised of an HUV and a group of AUVs (human-AUV systems). This investigation requires a mathematical motion model of an underwater vehicle. This dissertation presents a review of a six-degree-of-freedom (6DOF) motion model of a single AUV and proposes a method of identifying all parameters in the model based on computational fluid dynamics (CFD) calculations. Using the method, we build a 6DOF model of the EcoMapper and validate the model by field experiments. Based upon a generic 6DOF AUV model, we study the collective dynamics of a multi-AUV system and develop a method of decomposing the collective dynamics. After the collective dynamics decomposition, we propose a method of achieving orientation control for each AUV and formation control for the multi-AUV system. We extend the results and propose a cooperative control for a human-AUV system so that an HUV and a group of AUVs will form a desired formation while moving along a desired trajectory as a team. For the post-mission stage, we present a method of analyzing AUV survey data and apply this method to AUV measurement data collected from our field experiments carried out in Grand Isle, Louisiana in 2011, where AUVs were used to survey a lagoon, acquire bathymetric data, and measure the concentration of reminiscent crude oil in the water of the lagoon after the BP Deepwater Horizon oil spill in the Gulf of Mexico in 2010.
dc.description.degree	Ph.D.
dc.format.mimetype	application/pdf
dc.identifier.uri	http://hdl.handle.net/1853/50336
dc.language.iso	en_US
dc.publisher	Georgia Institute of Technology
dc.subject	Underwater vehicle
dc.subject	Dynamic modeling
dc.subject	Formation control
dc.subject	Cooperative control
dc.subject	Human-robot interaction
dc.subject	Curve tracking
dc.subject.lcsh	Remote submersibles
dc.subject.lcsh	Oceanographic submersibles
dc.subject.lcsh	Degree of freedom
dc.subject.lcsh	Control theory
dc.subject.lcsh	Traffic flow
dc.subject.lcsh	Fluid dynamics
dc.title	Collective dynamics and control of a fleet of heterogeneous marine vehicles
dc.type	Text
dc.type.genre	Dissertation
dspace.entity.type	Publication
local.contributor.corporatename	George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename	College of Engineering
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
relation.isOrgUnitOfPublication	c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication	7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf
thesis.degree.level	Doctoral