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Distributed Traversability Analysis of Flow Field Under Communication Constraints
Liu SJ(刘世杰)1,2; Sun J(孙洁)1,2; Yu JC(俞建成)1; Zhang AQ(张艾群)1; Zhang FM(张福民)3
Department海洋机器人卓越创新中心
Source PublicationIEEE Journal of Oceanic Engineering
ISSN0364-9059
2019
Volume44Issue:3Pages:683-692
Indexed BySCI ; EI
EI Accession number20181905146328
WOS IDWOS:000476752900013
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China ; State Key Laboratory of Robotics at the Shenyang Institute of Automation
Keywordcommunication constraints marine robotics path planning traversability analysis
AbstractTraversability analysis, previously developed for ground robots, is extended to be performed by a group of marine vehicles over ocean flow fields. To enable distributed path planning against flow, a systematic method is developed to determine a flow map that is significant for sharing among vehicles. Using traversability analysis, each vehicle finds a set of support vectors to approximate the boundary of flow regions with strong average flow speed. These support vectors, together with the parameters determined by the traversability analysis, are then shared over the communication links. The shared information is used by each vehicle to construct a flow map that supports path planning algorithms running on each vehicle. Underwater communication limits the amount of information contained in a map that can be shared among vehicles. A novel method for information reduction is developed so that only reduced flow maps are shared. The length of the data packets can be adjusted through an optimization process that balance between the fidelity of the approximated boundary and the number of bits that need to be transmitted. Simulation results demonstrate that the flow maps constructed from the shared information can have sufficient quality to allow near-optimal paths to be generated.
Language英语
WOS SubjectEngineering, Civil ; Engineering, Ocean ; Engineering, Electrical & Electronic ; Oceanography
WOS KeywordAUTONOMOUS UNDERWATER VEHICLES ; MOTION
WOS Research AreaEngineering ; Oceanography
Funding ProjectNational Natural Science Foundation of China[61233013] ; National Natural Science Foundation of China[61673370] ; National Natural Science Foundation of China[41376110] ; State Key Laboratory of Robotics at the Shenyang Institute of Automation[2014-Z02]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21844
Collection海洋机器人卓越创新中心
Corresponding AuthorZhang FM(张福民)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China;
2.University of Chinese Academy of Sciences, Beijing 100049, China;
3.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta,GA 30332 USA
Recommended Citation
GB/T 7714
Liu SJ,Sun J,Yu JC,et al. Distributed Traversability Analysis of Flow Field Under Communication Constraints[J]. IEEE Journal of Oceanic Engineering,2019,44(3):683-692.
APA Liu SJ,Sun J,Yu JC,Zhang AQ,&Zhang FM.(2019).Distributed Traversability Analysis of Flow Field Under Communication Constraints.IEEE Journal of Oceanic Engineering,44(3),683-692.
MLA Liu SJ,et al."Distributed Traversability Analysis of Flow Field Under Communication Constraints".IEEE Journal of Oceanic Engineering 44.3(2019):683-692.
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