Name
Title | ||
|---|---|---|
Differential Geometric Approach To Trajectory Planning: Cooperative Transport By A Team Of Autonomous Marine Vehicles |
Abstract | ||
|---|---|---|
In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem into a collection of subproblems. Each subproblem consists of an ASV and load pair where each ASV is attached to the load at the same point. Since the system states evolve on a smooth manifold, we use the tools from differential geometry to model the holonomic constraint arising from the cooperative transport problem and the non-holonomic constraints arising from the ASV dynamics. We then synthesize distributed feedback control strategies using the proposed mathematical modeling framework to enable the team transport the load on a desired trajectory. We experimentally validate the proposed strategy using a team of micro ASVs. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.23919/acc.2018.8430951 | 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) |
DocType | Volume | ISSN |
Conference | abs/1805.00959 | 0743-1619 |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hadi Hajieghrary | 1 | 1 | 1.70 |
| Dhanushka Kularatne | 2 | 0 | 1.69 |
| M. Ani Hsieh | 3 | 382 | 34.69 |