AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

Li, Juan; Zhang, Huadong; Chen, Tao; Wang, Jiaqi

doi:10.3390/jmse10070950

Cited by 7 publications

(4 citation statements)

References 15 publications

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“…Based on the Lee derivative [24] and the definition of g(x), for any 1 ≤ i ≤ 10, 1 ≤ j ≤ 10, it follows that…”

Section: Of 17mentioning

confidence: 99%

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Coordinated Obstacle Avoidance of Multi-AUV Based on Improved Artificial Potential Field Method and Consistency Protocol

Ning

2023

JMSE

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Formation avoidance is one of the critical technologies for autonomous underwater vehicle (AUV) formations. To this end, a cooperative obstacle avoidance algorithm based on an improved artificial potential field method and a consistency protocol is proposed in this paper for the local obstacle avoidance problem of AUV formation. Firstly, for the disadvantage that the traditional artificial potential field method can easily fall into local minima, an auxiliary potential field perpendicular to the AUV moving direction is designed to solve the problem that AUVs can easily have zero combined force in the potential field and local minima. Secondly, the control law of AUV formation that keeps the speed and position consistent is designed for the problem that the formation will change during the local obstacle avoidance of the formation system. The control conflict problem of the combined algorithm of the artificial potential field law and the consistency protocol is solved by adjusting the desired formation of the consistency protocol through the potential field force. Finally, the bounded energy function demonstrates system convergence stability. The simulation verification confirmed that the AUV formation could achieve the convergence of the formation state under local obstacle avoidance.

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“…Based on the Lee derivative [24] and the definition of g(x), for any 1 ≤ i ≤ 10, 1 ≤ j ≤ 10, it follows that…”

Section: Of 17mentioning

confidence: 99%

“…d(i) is the number of AUVs that can transmit information to any single U in the formation AUV. If the AUV formation members can communicate in both directions, based on the principle of the graph theory, it is indicated that graph A is an undirected graph, as shown in Figure 2 [24].…”

Section: Formation Communication Topologymentioning

confidence: 99%

Coordinated Obstacle Avoidance of Multi-AUV Based on Improved Artificial Potential Field Method and Consistency Protocol

Ning

2023

JMSE

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“…Theorem 1. Under the Assumption 1 that the UUV group communication topological graph is an undirected connected graph and satisfies Assumption 2, then under the consistency control protocol (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14), if the speed control gain satisfies the following inequality:…”

Section: Consensus Control For Distance To the Targetmentioning

confidence: 99%

“…Formation coordination ability [6,7] is necessary for UUV groups to perform tasks. Although the research on formation coordination control of UUVs started late, it has great potential in practical applications [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Formation Transformation Method for UUV Group to Approach a Static Target

Yin,

Yan,

Hou

2023

JMSE

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The unmanned underwater vehicle (UUV) group composed of UUVs carrying different kinds of detection equipment is powerful for underwater target searching and detection. In this paper, a formation transformation method, used while the mission of the UUV group transformed from searching to detecting, is proposed. Firstly, a new formation transformation strategy, in which the UUVs converged to their detection points followed by the aggregation points achieved, is proposed to improve the safety of UUVs during transformation. Following the proposed strategy, particle swarm optimization is employed to find the optimal aggregation points. Finally, possible collisions between UUVs and collisions between UUVs and targets are avoided by adding a collision avoidance algorithm based on a virtual torque field. The model prediction is used to solve the delay problem of underwater communication, and the communication results are used to correct the model prediction results. The test shows that the method is effective. The effectiveness of the proposed method is demonstrated using two simulation examples.

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Exponential smoothing-based fixed-time path-guided coordinated control of unmanned surface vehicles under communication interruption

Li,

Xu,

et al. 2024

Ocean Engineering

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AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

Cited by 7 publications

References 15 publications

Coordinated Obstacle Avoidance of Multi-AUV Based on Improved Artificial Potential Field Method and Consistency Protocol

Coordinated Obstacle Avoidance of Multi-AUV Based on Improved Artificial Potential Field Method and Consistency Protocol

Formation Transformation Method for UUV Group to Approach a Static Target

Exponential smoothing-based fixed-time path-guided coordinated control of unmanned surface vehicles under communication interruption

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