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FREE sub NET MCRTN-CT-2006-036186 PowerPoint Presentation
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FREE sub NET MCRTN-CT-2006-036186

FREE sub NET MCRTN-CT-2006-036186

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FREE sub NET MCRTN-CT-2006-036186

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  1. Mid Term Review Andreas J. Häusler FREEsubNET MCRTN-CT-2006-036186

  2. Andreas Häusler Country of Origin:Germany Host Organisation: IST Lisbon Start Date: August 1st, 2007 Project Title: Cooperative Navigation and Motion Control of Multiple Autonomous Marine Vehicles Contribution to Network: FSN Tasks 1.0, 1.1, 1.2, 5.1, 5.2

  3. Achievements to date Publications: 6 Internal Reports, Seminar Talks Workshops & conferences: NGCUV ‘08 Participation in tests: GREX Azores ‘08 Secondments: NTNU Norway, Fall ‘09 Training: Lectures on Dynamical Linear and Non-Linear Systems and Optimization, Seminars on current topics of research

  4. Technical Summary • TheProblem • Multiplevehiclemissionsrequirethevehiclestobe in formation • Aninitialformation has tobeestablishedbeforethemissionstarts • Vehiclescannotbedeployed in formation • Needtogetthevehiclesintoinitialformation ResearchVessel

  5. Technical Summary • The solution • Simultaneousarrivalat designated positions and orientations Rigoroussolutionbasedonoptimizationtechniquesand a new polynomialpathparametrization: • Avoidcollisionsuntilmission control takesover • Consider time, energy and vehicleconstraints

  6. Coordinated Target Tracking Moving Target Path Fitting Sonar, GPS, acoustic data Leading pursuer Cooperative Path Following Data Smoothing Path Sequence

  7. Technical Summary • Related Work within FREEsubNET • How do wedealwith “deviationsfromthe plan”? (wind, currents, etc.) • Use cooperativepathfollowing! (Methods are available – IST, NTNU) • First Results • (seethe video) LINK TO THE VIDEO

  8. Collaborative work Work with other members of the Network (ToK) Yana Lizunkova (UWTH) Mara Schmiing (IMAR) Mernout Burger (NTNU) Francesco Orsenigo (HCMR) Fausto Ferreira (CNR) Work with other institutions NTNU: Developing Algorithms on Path Planning and Path Following IMAR: GREX Azores ‘08 Sea Trials

  9. Forward Plan Technical Plan

  10. Forward Plan Collaborative Plan