Tham khảo tài liệu 'underwater vehicles part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Schooling for Multiple Underactuated AUVs 309 y 3 0 and u1 0 u2 0 u3 0 m s with all other variables taking zero values. Other design parameters are taken as kui 12 ky 8 krt 12 i 1 3 and Ya Yp Yu 60 Yy . Same as in the straight line case both of Va and Vp take the form as 6 with the parameters chosen as aa 12 ba 15 ap 8 bp 20 ca 2 Cp 3 and h . Corresponding simulation results are presented in Fig. 7 and 8. The vehicles schooling in the triangular movement is shown in Fig. 7 with no collision between any of two vehicles see Fig. 8 . Fig. 7. Schooling of the vehicles in a triangular movement. Fig. 8. Schooling geometry for a triangular movement. Equilateral triangular schooling with obstacle avoidance In this case we consider an equilateral triangular schooling of the vehicles with obstacle avoidance. The obstacle is modelled as a circle located at qp 40 10 with radius as 3m. For 310 Underwater Vehicles the schooling two virtual leaders are chosen as in Fig. 3 c with the initial positions taken as qv1 0 2V3 10 and qv2 0 10 3 10 . The vehicles initial conditions are taekn as 7j 0 0 1 q2 0 2 15 q3 0 7 3 11 v1 0 v2 0 v3 0 and u1 0 u2 0 u3 0 s with all other variables taking zero values. Other design parameters are taken as kui 18 kụi 10 kri 12 i 1 3 and Ya Yp yy Yu 240 Yv 6. Both Va and Vp are also taken as the form as 6 with the parameters as aa 12 ba 30 ap 45 3 bp 30 aY bY 6 ca 4 Cp 5 cY 90 and h . Simulation results are depicted in Fig. 9 12. Fig. 9 shows the vehicles schooling in the equilateral triangular movement with obstacle avoidance. From Fig. 10 we can see that there is not any collision between vehicles. Fig. 11 presents the vehicles velocity and heading matching in the schooling and Fig. 12 shows the histories of proposed formation control laws for Tui and Sri. Fig. 9. Schooling of the vehicles in an equilateral triangular movement with obstacle avoidance. Fig. 10. .
