A Scheme for Cooperative-Escort Multi-Submersible Intelligent Transportation System Based on SDN-Enabled Underwater IoV
A Scheme for Cooperative-Escort Multi-Submersible Intelligent Transportation System Based on SDN-Enabled Underwater IoV
复制标题
基于SDN的水下车联网协同护航多潜器智能运输系统方案
DOI：
10.1109/tits.2023.3279252
复制
发表时间：
2023-11
影响因子：
8.5
通讯作者：
Qiuzi Tao;Guangjie Han;Chuan Lin;Lei Wang;Shuqiang Huang;Chang Lu
中科院分区：
文献类型：
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作者：
Qiuzi Tao;Guangjie Han;Chuan Lin;Lei Wang;Shuqiang Huang;Chang Lu
载人潜水器（HOV）作为一种新兴的多潜器系统，在一组自主水下航行器（AUV）的护航下被认为是未来的水下探索框架。在这项工作中，为了提高多潜器编队的互操作性和通信效率，我们把多潜器系统作为一个范例的水下车联网（IoV），并展示了如何利用软件定义网络（SDN）技术来优化系统架构。在SDN的辅助下，考虑海流因素，提出了一种结合人工势场算法和梯度下降算法的人工流势场算法，用于多潜器系统的路径规划。特别是，为了提高路径规划的安全性和效率，提出了一种基于双主从算法的护航编队避障机制，用于处理各类避障情况。仿真实验表明，该方案以较低的能耗实现了多潜器系统间的数据传输。该算法在多潜器编队控制和航迹规划中具有较高的稳定性和较强的实用性。
As an emerging multi-submersible system, Human Occupied Vehicle (HOV) under a convoy of a set of Autonomous Underwater Vehicles (AUVs) is regarded as the future framework for underwater exploration. In this work, to improve the interoperability and communication efficiency of the multi-submersible formations, we treat the multi-submersible system as a paradigm of the underwater Internet of Vehicle (IoV) and show how to utilize the Software-Defined Networking (SDN) technique to optimize the system architecture. With the assistance of SDN, we consider the ocean current factors and propose an artificial flow potential field algorithm that combines the artificial potential field algorithm and the gradient descent algorithm, to plan the path for the multi-submersible system. In particular, to improve the safety and efficiency of path planning, we propose a dual leader-follower algorithm-based escort formation obstacle avoidance mechanism for dealing with all categories of obstacle avoidance situations. Simulation tests show that the proposed scheme performs better in data delivery among the multi-submersible system, at a lower energy cost. And it shows high stability and strong practicability in multi-submersible formation control and path planning, respectively.