Maritime patrol tasks assignment optimization of multiple USVs under endurance constraint

Zhu, Tengbin; Xiao, Yingjie; Zhang, Hao

doi:10.1016/j.oceaneng.2023.115445

Cited by 2 publications

(1 citation statement)

References 36 publications

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“…The unmanned surface vehicle (USV) is an unmanned surface ship that can perform scientific research and military tasks such as oceanographic surveying and mapping, sea area monitoring, maritime cargo, and communication relay according to the different mission systems it is equipped with [1,2]. In order to achieve the mission goal, the USV is required to have the function of autonomous navigation.…”

Section: Introductionmentioning

confidence: 99%

A robust integrated navigation optimization method for USV in signal occlusion environment

Lou,

Liu,

et al. 2024

Phys. Scr.

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Unmanned surface vehicles (USV) can use global navigation satellite systems (GNSS) and inertial navigation systems (INS) for combined positioning and navigation. However, buildings such as port facilities and bridges blocking GNSS signals will increase the error in the discriminator output in the GNSS vector tracking loop and reduce positioning accuracy. Meanwhile, due to the cumulative error in the inertial navigation system, the credibility of the navigation results when the signal is blocked is further reduced. In this regard, this study proposes a robust integrated navigation optimization method. Specifically, the RTS smoothing optimized Kalman filter is used to constrain the carrier phase error and code phase error output by the discriminator, which can dynamically adjust the gain of the vector tracking loop, thereby improving the signal tracking capability. Simultaneously, the prediction results of the gated recurrent unit (GRU) network optimized based on the attention mechanism are combined with the inertial navigation system to improve navigation accuracy. Furthermore, an adaptive Kalman filter is utilized as the integrated navigation filter. The actual path of the carrier refers to the navigation solution of the existing receiver. In the open environment, the proposed optimization method reduces horizontal positioning error and speed error by 44.7% and 37.1% respectively compared with existing methods. Simultaneously, it can effectively improve the robustness of positioning in signal obstruction environments. The proposed integrated navigation method provides new possibilities for optimizing USV navigation solutions.

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Section: Introductionmentioning

confidence: 99%

A robust integrated navigation optimization method for USV in signal occlusion environment

Lou,

Liu,

et al. 2024

Phys. Scr.

View full text Add to dashboard Cite

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Persistent Schedule Evaluation and Adaptive Re-planning for Maritime Search Tasks

Bays,

Wettergren,

Shin

et al. 2024

J Intell Robot Syst

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Search operations performed by adaptive autonomous maritime vehicles have been a topic of considerable interest for many years. Such operations require carefully scheduled coordination of multiple vehicles performing search tasks across the region of interest. Due to the inherent uncertainty of the maritime environment, however, an initially planned search schedule may not be maintained if the vehicles have significant capability to adapt their tasks to match the environment they detect in real time. We propose a multi-vehicle adaptive algorithm for dynamic evaluation and elastic re-planning of variable-length tasks commonly found in the maritime environments. In adaptive evaluation and re-planning problems, a set of tasks are initially planned for execution by adaptive, autonomous search vehicles. Tasks are allocated to search vehicles under a pre-defined schedule based on prior knowledge and desired outcome. Because of the vehicles’ autonomy and reactivity to in situ conditions such as environment or target pose, the precise duration and actions required by each task are unknown a priori. We develop a hidden Markov model (HMM) for propagating task estimates, coupled with a quadratic-programming-based elastic re-scheduler. The result is an integrated estimate-and-schedule adaptation scheme that quickly and efficiently re-plans the vehicles’ schedules based on in situ observations. The numerical simulation results show that this novel HMM approach decreases avoidable schedule variation by over a factor of two compared to existing methods.

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Maritime patrol tasks assignment optimization of multiple USVs under endurance constraint

Cited by 2 publications

References 36 publications

A robust integrated navigation optimization method for USV in signal occlusion environment

A robust integrated navigation optimization method for USV in signal occlusion environment

Persistent Schedule Evaluation and Adaptive Re-planning for Maritime Search Tasks

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