Low-Range Interaction Periodic Rendezvous Along Lagrangian Coherent Structures
Low-Range Interaction Periodic Rendezvous Along Lagrangian Coherent Structures
复制标题
DOI：
10.23919/acc.2019.8814995
复制
发表时间：
2019-07
期刊：
影响因子：
--
通讯作者：
Cong Wei;H. Tanner;Xi Yu;M. A. Hsieh
中科院分区：
文献类型：
--
作者：
Cong Wei;H. Tanner;Xi Yu;M. A. Hsieh
本文研究了海洋环境下极小驱动、极短距离通信移动传感器的同步交会条件。工作假设是，我们感兴趣的洋流可以用排列在网格上的环流或涡流来近似，其中每个环流由拉格朗日相干结构描绘。传感器之间的相互作用只能发生在相邻环流中的传感器之间，当它们在很近的距离漂移时，并且在保持所需距离的短时间内。在这些应用要求的约束条件下，设计了一个协作同步控制器来建立和鲁棒周期性传感器交会。对交会条件和交会控制器进行了仿真验证。
This paper presents synchronous rendezvous conditions for minimally actuated and very short-range communicating mobile sensors in open sea environments. The working assumption is that the ocean currents of interest can be approximated by gyres or eddy flows arranged over a grid, in which each gyre is delineated by Lagrangian coherent structures. Sensor interactions can only occur between sensors in neighboring gyres, when they drift in close proximity, and over short time periods where the required distance is maintained. Within these application-dictated constraints, a cooperative synchronization controller is designed to establish and robustify periodic sensor rendezvous. Both the rendezvous conditions, as well as the rendezvous controller are tested and validated in simulation.