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Prethodno priopćenje

https://doi.org/10.7225/toms.v08.n01.002

Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task

Andrzej Zak orcid id orcid.org/0000-0002-0364-4077 ; Faculty of Navigation and Naval Weapons, Polish Naval Academy, Poland


Puni tekst: engleski pdf 874 Kb

str. 18-25

preuzimanja: 279

citiraj


Sažetak

The article presents the control system of a single underwater vehicle which is a member of the underwater vehicles team. The application of the multi-agent system concept for modelling and controlling a team of homogeneous underwater vehicles is discussed. Issues relating to cooperation actions in the team of underwater vehicles are described and solved using the theory of games and vector quality index. The process of negotiations between the vehicles is modelled as a multiplayer cooperative game. Finally, the water region search tasks performed by a team of cooperating underwater vehicles are presented and discussed taking into account possible vehicle failures happening during task realization.

Ključne riječi

Unmanned underwater vehicles; Control; Team of vehicles; Cooperation

Hrčak ID:

219786

URI

https://hrcak.srce.hr/219786

Datum izdavanja:

20.4.2019.

Posjeta: 725 *