1. Unmanned Vehicle Innovation Center, Ningbo Institute of NPU, Ningbo 315048, China
2. Jiangsu Key Laboratory of Engineering Mechanics, School of Civil Engineering, Southeast University, Nanjing 210096, China
3. School of Science, Xi’an University of Architecture and Technology, Xi’an 710055, China
4. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China