Multi-AUV control and adaptive sampling in Monterey Bay

Edward Fiorelli, Naomi Ehrich Leonard, Pradeep Bhatta, Derek A. Paley, Ralf Bachmayer, David M. Fratantoni

Research output: Contribution to journalArticle

301 Scopus citations

Abstract

Operations with multiple autonomous underwater vehicles (AUVs) have a variety of underwater applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal scales. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August, 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project.

Original languageEnglish (US)
Pages (from-to)935-948
Number of pages14
JournalIEEE Journal of Oceanic Engineering
Volume31
Issue number4
DOIs
StatePublished - Oct 2006

All Science Journal Classification (ASJC) codes

  • Ocean Engineering
  • Mechanical Engineering
  • Electrical and Electronic Engineering

Keywords

  • Adaptive sampling
  • Autonomous underwater vehicles (AUVs)
  • Cooperative control
  • Formations
  • Gradient climbing
  • Underwater gliders

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  • Cite this

    Fiorelli, E., Leonard, N. E., Bhatta, P., Paley, D. A., Bachmayer, R., & Fratantoni, D. M. (2006). Multi-AUV control and adaptive sampling in Monterey Bay. IEEE Journal of Oceanic Engineering, 31(4), 935-948. https://doi.org/10.1109/JOE.2006.880429