Team formation and steering algorithms for underwater gliders using acoustic communications
Team formation and steering algorithms for underwater gliders using acoustic communications
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DOI：
10.1016/j.comcom.2012.01.001
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发表时间：
2012-05
期刊：
影响因子：
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通讯作者：
Baozhi Chen;D. Pompili
中科院分区：
文献类型：
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作者：
Baozhi Chen;D. Pompili
为了从采样不足的广阔海洋中进行空间和时间测量，有必要使用多个自主水下航行器，如滑翔机，它们相互通信和协调。这些飞行器需要以特定的队形组成一个团队，在感兴趣的3D区域中航行，并进行温度和盐度等应用相关的测量。在这篇文章中，提出了依赖于水下声学通信的团队形成和转向算法，以使滑翔机群能够抵抗洋流和声信道损伤（例如，高传播和传输延迟以及低通信可靠性）。所提出的算法的性能进行评估，并与现有的解决方案，不依赖于水下通信，使用不同的洋流模型进行比较。
In order to take measurements in space and time from the undersampled vast ocean, it is necessary to employ multiple autonomous underwater vehicles, such as gliders, that communicate and coordinate with each other. These vehicles need to form a team in a specific formation, steer through the 3D region of interest, and take application-dependent measurements such as temperature and salinity. In this article, team formation and steering algorithms relying on underwater acoustic communications are proposed in order to enable glider swarming that is robust against ocean currents and acoustic channel impairments (e.g., high propagation and transmission delay, and low communication reliability). Performance of the proposed algorithms is evaluated and compared against existing solutions, which do not rely on underwater communications, using different ocean current models.