Experiments in dynamic control of autonomous marine vehicles using acoustic modems
Author(s)Gilbertson, Eric W.; Leighton, Joshua C.; Cheung, Mei Yi; Hover, Franz S.; Reed, Brooks
MetadataShow full item record
Marine robots are an increasingly attractive means for observing and monitoring in the ocean, but underwater acoustic communication (“acomms”) remains a major challenge, especially for real-time control. Packet loss occurs widely, bit rates are low, and there are significant delays. We consider here strategies for feedback control with acomms links in either the sensor-controller channel, or the controller-actuator channel. On the controller-actuator side we implement sparse packetized predictive control (S-PPC), which simultaneously addresses packet-loss and the data rate limit. For the sensor-controller channel we study a modified information filter (MIF) in a Linear Quadratic Gaussian (LQG) control scheme. Field experiments were carried out with both approaches, regulating crosstrack error in a robotic kayak using acomms. Outcomes with both the S-PPC and MIF LQG confirm that good performance is achievable.
DepartmentJoint Program in Oceanography/Applied Ocean Science and Engineering; Massachusetts Institute of Technology. Department of Mechanical Engineering; Woods Hole Oceanographic Institution
Proceedings of the 2013 IEEE International Conference on Robotics and Automation
Institute of Electrical and Electronics Engineers (IEEE)
Gilbertson, Eric, Brooks L. Reed, Josh Leighton, Mei Yi Cheung, and Franz S. Hover. “Experiments in Dynamic Control of Autonomous Marine Vehicles Using Acoustic Modems.” 2013 IEEE International Conference on Robotics and Automation (May 2013).
Author's final manuscript