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Multi-AUVs formation control with acoustic communication constraints
Xu HL(徐红丽); Li GN(李冠男)
作者部门海洋信息技术装备中心
会议名称OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common
会议日期September 23-26, 2013
会议地点San Diego, CA, United states
会议录名称OCEANS 2013 MTS/IEEE; San Diego: An Ocean in Common
出版者IEEE Computer Society
出版地Washington, DC
2013
收录类别EI ; CPCI(ISTP)
EI收录号20141317500308
WOS记录号WOS:000334165800080
产权排序1
关键词Algorithms Experiments Oceanography Underwater Acoustics
摘要Formation control has received significant attention in the field of multiple autonomous underwater vehicles (AUVs) in recent years. There are many theoretical methods for solving this problem. But when applying these methods to an actual multiple AUVs system, communication constraints need to be considered because acoustic communication among multiple AUVs often is unreliable in actual ocean environment. This paper focuses on application and validation of a leader-follower approach on multi-AUVs formation maintenance with acoustic communication constraints. The communication interval between AUVs and packet loss rate are researched based on experiments. A leader-follower formation control algorithm based on a Line-Of- Sight guidance law is proposed. The simulation and experiment results show that the proposed method is effective and feasible when keeping a formation with a long delay of underwater acoustic communication, and it is also suitable for short-time communication interruption.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/14571
专题海洋信息技术装备中心
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GB/T 7714
Xu HL,Li GN. Multi-AUVs formation control with acoustic communication constraints[C]. Washington, DC:IEEE Computer Society,2013.
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