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Research on thermocline tracking based on multiple autonomous underwater vehicles
Li Z(李震)1,2; Li YP(李一平)1,2
作者部门水下机器人研究室
会议名称2018 International Conference on Electronics and Electrical Engineering Technology, EEET 2018
会议日期September 19-21, 2018
会议地点Tianjin, China
会议录名称Proceedings of 2018 International Conference on Electronics and Electrical Engineering Technology, EEET 2018
出版者ACM
出版地New York
2018
页码122-127
收录类别EI
EI收录号20190506448937
产权排序1
ISBN号978-1-4503-6541-3
关键词Artificial potential field Multiple autonomous underwater vehicles (AUV) Thermocline tracking Virtual leader
摘要Thermocline is of great significance to marine scientific research. Multi-autonomous underwater vehicles (AUV) have great advantages over single autonomous underwater vehicle in ocean observation. This paper describes a control method for multi-agent formation. Based on this method, a strategy of multi-AUV formation for thermocline tracking is proposed. This paper firstly analyzes the stability of the formation control method based on the virtual body and artificial potential method (VBAP), and verifies the feasibility of this control method on the target-tracking problem by tracking a curved surface in space. Where after, in this paper, a thermocline tracking strategy based on vertical temperature gradient is proposed. Then the simulation experiment is designed based on the above control method and temperature data. The experimental results express that the multi-AUV formation can always keep working between the upper and lower boundary of thermocline, and tracks the thermocline effectively. © 2018 Association for Computing Machinery.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/24131
专题水下机器人研究室
通讯作者Li Z(李震)
作者单位1.State key Laboratory of Robotics, Shenyang Institute of Automation Shenyang, Liaoning Province, China
2.College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning Province, China
推荐引用方式
GB/T 7714
Li Z,Li YP. Research on thermocline tracking based on multiple autonomous underwater vehicles[C]. New York:ACM,2018:122-127.
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