Tham khảo tài liệu 'autonomous underwater vehicles part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Formation Guidance of AUVs Using Decentralized Control Functions 129 exacerbated by reduced manoeuvring capabilities as all vehicles reduce speed in the vicinity of the way-point. 7. Conclusion The chapter has presented a virtual potentials-based decentralized formation guidance framework that operates in 2D. The framework guarantees the stability of trajectories convergence to the way-point which is the global navigation goal and avoidance of salient hazardous obstacles. Additionally the framework offers a cross-layer approach to subsuming two competing behaviours that AUVs in a formation guidance framework need to combine - a priority of formation maintenance opposed by operational safety in avoiding obstacles while cruising amidst clutter. Additionally to the theoretical contribution a well-rounded functional hardware-in-the-loop system HILS for realistic simulative analysis was presented. Multiple layers of realistic dynamic behaviour are featured in the system 1. A full-state coupled model dynamics of a seaworthy long-autonomy AUV model based on rigid-body physics and hydrodynamics of viscous fluids like water 2. An unbiased rate-limited white noise model of the process noise 3. A non-stationary generator of measurement noise based on Gaussian Markov models with an explicitly included fault-mode 4. An outlier-elimination scheme based on the evaluation of the state estimate covariance returned by the employed estimator 5. A Scaled Unscented Transform Sigma-Point Kalman Filter SP-UKF that can work either in the filtering mode or a combination of filtering and pure-prediction mode when faulty measurements are present utilizing a full-state non-linear coupled AUV model dynamics 6. A command signal adaptation mechanism that accents operational safety concerns by prioritizing turning manoeuvres while accelerating and pure braking shedding forward speed when decelerating. Further work Several distinct areas of research based on the developed HILS framework remain
