This book systematically discusses the main control technologies and methods involved in the collaborative detection process of multiple autonomous underwater robots. The main contents include single-body and group system architecture, formation control methods, formation search strategies, task allocation methods, collision avoidance strategies, collaborative navigation methods, etc. Through collaborative control simulation examples and lake test examples, the application of related methods is introduced. Series Preface 1 Series Preface 2 Preface 1 Introduction 2 Multi-AUV system architecture 3 Multi-AUV formation control method 4 Multi-AUV system formation search strategy 5 Multi-AUV task allocation method 6 Multi-AUV system collision avoidance problem 7 Multi-AUV collaborative navigation method 8 Multi-AUV collaborative control simulation and experiment Appendix Design of multi-AUV formation controller based on kinematics (basic formation model) Index Color map
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