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

机器人和计算机视觉计划摘要提案编号：0328378 PI：Tarn，Tzyh-Jong华盛顿大学提案编号：0328387 PI：An，Edgar佛罗里达大西洋大学公认的是，AUV网络的成功运行取决于网络中的有效通信。 该建议提出了一个程序，用于构建控制器，限制和路由信息流在网络中的AUV。 特别注意的是最大限度地提高吞吐量和带宽效率，同时最大限度地降低功耗的目标。 建议的研究旨在（i）创建一个数学模型，以便于分析研究AUV网络的通信问题，（ii）采用滚动时域控制方法，以获得通信网络的分段连续最优控制器，及（iii）测试及评估所得结果。这项研究工作的主要优点包括：（i）解决一组水下航行器的分布式和合作控制的根本挑战，（ii）创建一个严格的数学模型，以促进分析研究的AUV网络的通信问题，而不是简单地进行实验研究。 这项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。 拟议研究的结果将是遗传性的。它可以应用于其他工程系统，可以通过微分和差分方程建模。 因此，所提出的研究将大大提高我们对分布式复杂系统的动力学和控制的一般理解，并将对美国海军在研究和开发方面的未来海军能力产生特定的影响。

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.