Collaborative Search and Target Capture of AUV Formations in Obstacle Environments

Author:

Hu Xinyu1ORCID,Shi Yu1,Bai Guiqiang1,Chen Yanli1

Affiliation:

1. Key Laboratory of CNC Equipment Reliability, Ministry of Education, School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China

Abstract

When performing cooperative search operations underwater, multi-autonomous underwater vehicles formations may encounter array-type obstacles such as gullies and bumps. To safely traverse the obstacle domain, this paper balances convergence time, transformation distance and sensor network power consumption, and proposes a Formation Comprehensive Cost (FCC) model to achieve collision avoidance of the formations. The FCC model is used instead of the fitness function of the genetic algorithm to solve the assignment of capture positions and the improved neural self-organizing map (INSOM) algorithm is proposed to achieve efficient path-planning during the capture process. The simulation experiments in 3D space verify that the proposed scheme can improve the efficiency of robot deployment while ensuring safety.

Funder

Jilin Province Key Science and Technology R&D project

Foundation of Education Bureau of Jilin Province

Marine Defense Innovation Found

Aeronautical Science Foundation of China

National Natural Science Foundation of China

Interdisciplinary integration innovation and cultivation project of Jilin university

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

Reference33 articles.

1. USV collision hazard assessment and track planning algorithm;Chen;Ocean Eng.,2022

2. Cooperative formation control of autonomous underwater vehicles: An overview;Das;Int. J. Autom. Comput.,2016

3. Adaptive learning: A new decentralized reinforcement learning approach for cooperative multiagent systems;Li;IEEE Access,2020

4. Co-operative control of a team of autonomous underwater vehicles in an obstacle-rich environment;Das;J. Mar. Eng. Technol.,2016

5. Heonyoung, L., Yeonsik, K., Jongwon, K., and Changwhan, K. (2009, January 14–17). Formation control of leader following unmanned ground vehicles using nonlinear model predictive control. Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore.

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3