Effect of Communication Delays on the Successful Coordination of a Group of Biomimetic AUVs

McGookin, E. W. and McColgan, J. (2017) Effect of Communication Delays on the Successful Coordination of a Group of Biomimetic AUVs. In: OCEANS 2017 - Aberdeen, Aberdeen, UK, 19-22 Jun 2017, ISBN 9781509052783 (doi: 10.1109/OCEANSE.2017.8084616)

160160.pdf - Accepted Version



In this paper, the influence of delays on the ability of a formation control algorithm to coordinate a group of twelve Biomimetic Autonomous Underwater Vehicles (BAUVs) is investigated. In this study the formation control algorithm is a decentralized methodology based on the behavioural mechanisms of fish within school structures. Incorporated within this algorithm is a representation of the well-known and frequently used communication protocol, Time-Division-Multiple-Access (TDMA). TDMA operates by assigning each vehicle a specific timeslot during which it can broadcast to the remaining members of the group. The size of this timeslot varies depending on a number of operational parameters such as the size of the message being transmitted, the hardware used and the distance between neighbouring vehicles. Therefore, in this work, numerous timeslot sizes are tested that range from theoretical possible values through to values used in practice. The formation control algorithm and the TDMA protocol have been implemented within a validated mathematical of the RoboSalmon BAUV designed and manufactured at the University of Glasgow. The results demonstrate a significant deterioration in the ability of the formation control algorithms as the timeslot size is increased. This deterioration is due to the fact that as the timeslot size is increased, the interim period between successive communication updates increases and as a result, the error between where the formation control algorithm estimates each vehicle to be and where they actually are, increases. As a result, since the algorithm no longer has an accurate representation of the positioning of neighbouring vehicles, it is no longer capable of selecting the correct behavioural equation and subsequently, is unable to coordinate the vehicles to form a stable group structure.

Item Type:Conference Proceedings
Glasgow Author(s) Enlighten ID:McGookin, Dr Euan and Mccolgan, Mr Jonathan
Authors: McGookin, E. W., and McColgan, J.
College/School:College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
Published Online:26 October 2017
Copyright Holders:Copyright © 2017 IEEE
First Published:First published in OCEANS 207 - Aberdeen
Publisher Policy:Reproduced in accordance with the publisher copyright policy

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