Application of formation control for multi-vehicle robotic minesweeping

In an effort to find low cost solutions to Naval minesweeping, a fleet of robot minesweepers equipped with detection sensors and acoustic/magnetic devices is proposed. To ensure maximum sweeping all vehicle movements are coordinated through a supervisor vehicle that determines if vehicles are lost to mine detonation, and re-tasks, as needed, the remaining vehicles to follow tracks left by lost vehicles. A computer program has been developed to evaluate the control logic linking the supervisor and worker vehicles. The algorithms for tracking control and vehicle ID reassignment are given and example results are shown.