Joint Design of Communication, Wireless Energy Transfer, and Control for Swarm Autonomous Underwater Vehicles
Joint Design of Communication, Wireless Energy Transfer, and Control for Swarm Autonomous Underwater Vehicles
复制标题
DOI：
10.1109/tvt.2021.3053456
复制
发表时间：
2021-02
影响因子：
6.8
通讯作者：
Hongzhi Guo;Zhi Sun;Pu Wang
中科院分区：
文献类型：
--
作者：
Hongzhi Guo;Zhi Sun;Pu Wang
与传统的单机器人系统相比，群自主水下机器人（AUV）能够提供更丰富的时空信息，可用于水下测绘、探测、目标跟踪等。但由于电池容量的限制，水下机器人无法提供持久的服务，这就限制了水下机器人的作业范围和使命持续时间。本文提出了一种移动的水下充电方案，该方案可以通过无线移动的充电器为一群水下机器人连续充电。采用基于磁感应的通信和无线能量传输。本文首先表明，通过使用三轴线圈，可以获得可靠的无线通信和无线能量传输而没有线圈定向损耗。在此基础上，针对任务驱动型水下机器人群，联合设计了无线通信、运动控制和无线能量传输方案。特别是，最佳的连续运动控制器开发的AUV，以避免群内碰撞和网络协议的设计，以最佳地分配无线通信和无线能量传输的资源。所提出的方法可以引导AUV到达目的地，同时保持无线网络的完整性和最大化无线能量传输效率，从而可以消除对AUV电池的限制，并且可以将更便宜和更小的AUV用于各种水下应用。
A swarm of Autonomous Underwater Vehicles (AUVs) can provide richer spatial-temporal information than the traditional single-robot system, which can be used for underwater mapping, exploration, target tracking, among others. However, the limitation of AUVs’ battery cannot support persistent services, which restricts AUVs’ operating range and mission duration. In this paper, a mobile underwater charging solution is developed that can continuously recharge a swarm of AUVs by using a wireless mobile charger. Magnetic induction-based communication and wireless energy transfer are employed. This paper first shows that by using tri-axis coils, reliable wireless communication and wireless energy transfer without coil orientation losses can be obtained. After that, wireless communication, motion control, and wireless energy transfer are jointly designed for a swarm of mission-driven AUVs. In particular, optimal continuous motion controllers are developed for AUVs to avoid intra-swarm collisions and networking protocols are designed to optimally allocate resources for wireless communication and wireless energy transfer. The proposed approach can guide AUVs to their destinations, while maintaining wireless network integrity and maximizing wireless energy transfer efficiency, upon which the constraints on AUVs’ batteries can be eliminated and cheaper and smaller AUVs can be employed for various underwater applications.