Details

Autor(en) / Beteiligte

• Tang, Qirong
• Li, Jiang
• Jin, Daopeng
• Ngogia, Thao
• Liu, Minghao
• Li, Yinghao

Titel

Three-dimension Visual Simulation for Formation Tracing Control of Multiple Underwater Vehicles

Ist Teil von

• 2021 IEEE International Conference on Unmanned Systems (ICUS), 2021, p.878-883

Ort / Verlag

IEEE

Erscheinungsjahr

2021

Quelle

IEEE Xplore

Beschreibungen/Notizen

• This paper proposes a three-dimension visual simulation method for formation tracing control of multiple underwater vehicles. Firstly, the mathmatic model of the underwater vehicle are inverstigated. Then, the formation structure is studied with leader-follower method. Then, the leader-follower formation tracing control is carried out by slide mode control method. The simulation result shows the effectiveness of formation tracing control method. Then, the three-dimension visual simulation scene of multiple underwater vehicles is built in UWSim. Finally, through the co-simulation of Matlab and UWSim, the three-dimension visual simulation of formation tracing control of multiple underwater vehicles is presented.