Clustering Statistic Hough Transform Based Estimation Method for Motion Elements of Multiple Underwater Targets

Yan, Zheping; Zhang, Gengshi; Xu, Jian; Chen, Tao; Du, Xue; Li, Juan

doi:10.1109/access.2018.2825887

Cited by 6 publications

(1 citation statement)

References 28 publications

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“…It should be pointed out that the leader-following consensus problem has been seen as a more important issue which has been greatly studied on multi-agent systems in recent years [9]- [12], some leader-following consensus algorithms have been used in UUVs systems [13]- [15]. Taking note of the fact that the limited communication distance underwater, communication delay or packet loss should be considered [16]- [18], and time-varying delays have been concerned in some researches [19]- [22]. However, most of the abovementioned results didn't consider uncertain interference in UUVs systems.…”

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Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays

et al. 2019

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This paper is concerned with the multi-UUVs formation control problem and proposes the control protocol with an additional function when considering environmental disturbances. Firstly, the leaderfollowing configuration is adopted to discuss the consensus problem for multi-UUVs system, the leader's behavior directs the follower's motion trajectory and the follower UUVs could, in turn, communicate with each other, respectively. Secondly, three types of coordination control protocols are proposed: the control protocol is designed without additional function and time delay; the control protocol with additional function and without time delay; the control protocol with additional function and time-varying delay. Sufficient consensus conditions are analyzed and derived by using the Lyapunov-Krasovskii functional theory, algebraic graph theory and matrix theory. Finally, two simulation experiments are given to illustrate the effectiveness of the proposed formation control methods. INDEX TERMS Multiple unmanned underwater vehicles, leader-following consensus, uncertain factors, time-varying delays. I. INTRODUCTION In the past decades, with the development of artificial intelligence and new engineering techniques, the cooperation and coordination problems of multi-Unmanned Underwater Vehicles (multi-UUVs) system have been rapidly developed and widely studied due to its broad applications in military and commercial fields, especially in ocean-graphic observation, ocean exploration, plane crash searches, trajectory tracking, etc. Compared with a single UUV, multi-UUVs formation equipped with more sensors can accomplish more complex and larger-scale deep-sea missions with efficient and stable communications. It is worth mentioning that the researches on motion control of a single UUV are getting deeper in recent years, there are several control methods such as robust control [1], adaptive control [2] and fuzzy control approaches [3] in ocean engineering applications, but the above algorithms cannot well applied to the formation problem of multi-UUVs system. The basic problem of formation The associate editor coordinating the review of this article and approving it for publication was Nagarajan Raghavan.

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Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays

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Intelligent Vector Field Histogram based collision avoidance method for AUV

Zhang

et al. 2022

Ocean Engineering

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Noncontact Respiratory Measurement for Multiple People at Arbitrary Locations Using Array Radar and Respiratory-Space Clustering

Koda

Sakamoto

Okumura³

et al. 2021

IEEE Access

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We developed a noncontact measurement system for monitoring the respiration of multiple people using millimeter-wave array radar. To separate the radar echoes of multiple people, conventional techniques cluster the radar echoes in the time, frequency, or spatial domain. Focusing on the measurement of the respiratory signals of multiple people, we propose a method called respiratory-space clustering, in which individual differences in the respiratory rate are effectively exploited to accurately resolve the echoes from human bodies. The proposed respiratory-space clustering can separate echoes, even when people are located close to each other. In addition, the proposed method can be applied when the number of targets is unknown and can accurately estimate the number and positions of people. We perform multiple experiments involving five or seven participants to verify the performance of the proposed method, and quantitatively evaluate the estimation accuracy for the number of people and the respiratory intervals. The experimental results show that the average root-mean-square error in estimating the respiratory interval is 196 ms using the proposed method. The use of the proposed method, rather the conventional method, improves the accuracy of the estimation of the number of people by 85.0%, which indicates the effectiveness of the proposed method for the measurement of the respiration of multiple people.INDEX TERMS Antenna arrays, biomedical engineering, clustering methods, Doppler radar, MIMO radar, radar measurements, radar imaging, radar signal processing.

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Clustering Statistic Hough Transform Based Estimation Method for Motion Elements of Multiple Underwater Targets

Cited by 6 publications

References 28 publications

Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays

Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays

Intelligent Vector Field Histogram based collision avoidance method for AUV

Noncontact Respiratory Measurement for Multiple People at Arbitrary Locations Using Array Radar and Respiratory-Space Clustering

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