Co-operative control coordination of a team of underwater vehicles with communication constraints
Co-operative control coordination of a team of underwater vehicles with communication constraints
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DOI：
10.1177/0142331215590010
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发表时间：
2016-04-01
影响因子：
1.8
通讯作者：
Pati, Bibhuti Bhusan
中科院分区：
文献类型：
--
作者：
Das, Bikramaditya;Subudhi, Bidyadhar;Pati, Bibhuti Bhusan
本文提出了一种采用不同优化技术的多自主水下航行器（AUV）运动规划和协调策略的协同控制体系结构。研究了多非完整AUV的主从编队控制问题，其中一个AUV被指定为领导者，其他参与的AUV被视为从者。在这种情况下，领导者根据其优化路径操作，而每个跟随者需要准确地跟随领导者，保持相对于领导者的期望间隔和方向。还设计了一种通信策略，使AUV可以交换信息，以获得指定的航路点，从领导者发送的区域覆盖问题。优化是必要的，以确定最佳路径的传感器节点的功能，以满足时间最小化的一组AUV的控制协调。各种优化算法已被用于控制协调和搜索策略的合作运动控制的一组AUV没有纳入学习和记忆来评估的目标函数。克隆选择算法被认为是利用三角形传感器为基础的网格覆盖技术规划编队领导者的运动的最佳途径之一。通过MATLAB仿真研究验证了所提出的优化方法解决一组AUV的合作运动的有效性，结果证实了所提出的技术比现有的搜索方法，如坐标，多方向，单纯形和同时扰动随机近似的鲁棒性和效率。
Co-operative control architectures for implementation of motion plan and coordination strategies for a team of Autonomous Underwater Vehicles (AUVs) using different optimization techniques are presented in this paper. The paper addresses the leader-follower formation control of multiple non-holonomic AUVs where one AUV is designated as Leader and the other participating AUVs are treated as the followers. In this scenario, the leader operates according to its optimized path, while each follower is required to follow the leader accurately maintaining desired separations and orientation with respect to the leader. A communication strategy is also designed so that the AUVs can exchange information to obtain the designated waypoints that are sent from the leader following the area coverage problem. Optimization is necessary to determine the optimal path as functions of sensor nodes for control coordination of a team of AUVs satisfying the time minimization. Various optimization algorithms have been employed for control coordination and search strategies of co-operative motion control of a group of AUVs without incorporating learning and memory to evaluate the objective function. The CLONAL selection algorithm is found to be one of the best approaches to plan the formation leader motion utilizing the triangular sensor-based grid coverage technique. The efficacy of the proposed optimization approach to solve the co-operation motion of a group of AUVs is verified through MATLAB simulation studies and the results confirmed the robustness and efficiency of the proposed technique over existing search methodologies, such as Coordinate, Multi-directional, Simplex and Simultaneous Perturbation Stochastic Approximation.