Coordinated formation control of multiple autonomous underwater vehicles for pipeline inspection

Bruno Jouvencel 1 Olivier Parodi 1 Xianbo Xiang 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.
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  • HAL Id : lirmm-00812886, version 1
  • DOI : 10.5772/1

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Bruno Jouvencel, Olivier Parodi, Xianbo Xiang. Coordinated formation control of multiple autonomous underwater vehicles for pipeline inspection. International Journal of Advanced Robotic Systems, InTech, 2010, 7 (1), pp.75-84. ⟨10.5772/1⟩. ⟨lirmm-00812886⟩

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