Group Formation of Autonomous Underwater Vehicles that Optimizes Energetic Efficiency in Cruising
Group Formation of Autonomous Underwater Vehicles that Optimizes Energetic Efficiency in Cruising
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DOI：
10.1109/ut49729.2023.10103369
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发表时间：
2023-03
期刊：
影响因子：
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通讯作者：
Gen Li;R. Godoy-Diana;Lei Duan;B. Thiria
中科院分区：
文献类型：
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作者：
Gen Li;R. Godoy-Diana;Lei Duan;B. Thiria
当AUV群体巡航时，它们之间的相互影响会影响它们的能量效率。AUV群体中个体之间的水动力相互作用是复杂的。这个具有挑战性的流体动力学问题是由一个混合的，多层次的数值方法，其中包括个人和群体水平的解决方案。在个体级仿真中，基于商业软件和湍流模型，对具有真实螺旋桨形态的全尺寸AUV模型进行了仿真。然后将结果输入作为基于分析势流模型的组级解决方案的源信息。这使我们能够调查平衡编队的AUV组和评估能源消耗的角度，通过他们的远场干扰。优化结果表明，当领导者和跟随者AUV保持对角模式（即跟随者AUV横向落后于领导者AUV）时，组的平均能量消耗可以最小化。AUV需要限制其横向间隔距离以保持节能效果。我们的研究结果表明，就像动物在群体中游泳和飞行一样，自主水下航行器也可以采用特定的群体编队来优化能量效率。
When AUVs cruise in group, they interact with each other and their energetic efficiency will be influenced. The hydrodynamic interaction among individuals in an AUV group is complex. This challenging hydrodynamic problem is solved by a hybrid, multi-level numerical approach, which consists of individual- and group-level solutions. In the individual-level simulation, based on commercial software and a turbulence model, a full-scale AUV model with realistic propeller morphology is simulated. The result is then input as source information for the group-level solution based on an analytical potential-flow model. This allows us to investigate equilibrium formations for groups of AUVs and evaluate the perspective of energy consumption through their far-field interference. The optimization results suggest that the average energetic consumption of the group may be minimized when leader and follower AUVs stay in a diagonal pattern (i.e. a follower AUV is laterally behind a leader AUV). The AUVs are required to limit their lateral separation distance to maintain the energy saving effect. Our results reveal that, like animals swimming and flying in groups, Autonomous Underwater Vehicles may also adopt specific group formations to optimize energetic efficiency.