Collaborative Research: Theory and Simulation Study for Communicating Autonomous Underwater Vehicles

机器人和计算机视觉程序建议#：0328378PI：Tarn，Tzyh-JongWashington University Proposal#：0328387PI：An，Edgar佛罗里达大西洋大学公认AUV网络的成功运行取决于网络中的有效通信。这项提案提出了一种构建控制器的程序，该控制器限制和路由AUV网络中的信息流。特别注意最大化吞吐量和带宽效率，同时最小化功耗的目标。本研究旨在(I)建立一个便于分析研究AUV网络通信问题的数学模型；(Ii)采用滚动域控制方法获得通信网络的分段连续最优控制器；(Iii)测试和评估所获得的结果。该研究工作的主要优点包括：(I)解决了水下机器人群体分布式和协作控制中的一个基本挑战；(Ii)建立了一个严格的数学模型，以便于AUV网络通信问题的分析研究，而不是简单地进行实验研究。这一研究工作的结果不仅将广泛影响AUV网络的成功运行，而且还将影响科学和社会的不同领域。这项拟议研究的结果将是遗传的。它也可应用于其他可用微分差分方程组建模的工程系统。因此，拟议的研究将显著提高我们对分布式复杂系统的动力学和控制的总体理解，并将对美国海军未来海军的研发能力产生具体影响。

Robotics and Computer Vision ProgramABSTRACTProposal #: 0328378PI: Tarn, Tzyh-JongWashington University Proposal #: 0328387PI: An, EdgarFlorida Atlantic UnivIt is recognized that successful operation of a network of AUVs rests upon efficient communication in the network. This proposal proposes a procedure for constructing controllers that limit and route information flow in a network of AUVs. Particular attention is paid to the objectives of maximizing throughput and bandwidth efficiency while minimizing power consumption. The proposed research intends to (i) Create a mathematical model for facilitating analytical study of communication problems for a network of AUVs, (ii) Adopt a receding horizon control approach to obtain a piecewise continuous optimal controller for the communication network, and (iii) Testing and evaluating of the obtained results.The major merits of this proposed research effort include (i) Addressing a fundamental challenge in distributed and co-operative control for a group of underwater vehicles, (ii) Creating a rigorous mathematical model for facilitating analytical study of communication problems for a network of AUVs rather than simply performing experimental study. The results of this research effort will broadly impact not only the successful operation of a network of AUVs, but also different areas of science and society. The outcome of the proposed research will be genetic. It can be applied to other engineering systems that can be modeled by differential and difference equations. Therefore, the proposed research will significantly enhance our general understanding about dynamics and control of a distributed complex system, and will have a specific impact to the U.S. Navy in terms of their Future Naval Capabilities in research and development.