Multi-autonomous underwater vehicle formation control and cluster search using a fusion control strategy at complex underwater environment

Chen, Yanli; Ma, Xiwen; Bai, Guiqiang; Sha, Yongbai; Liu, Jun

doi:10.1016/j.oceaneng.2020.108048

Cited by 43 publications

(11 citation statements)

References 31 publications

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“…The working environment and requirements of AUVs will determine the design of VBS. Small AUVs are mainly used for shallow water environment observation (Renner, 2017; Vinoth Kumar et al , 2020) and cluster operation (Chen et al , 2020; Zhang et al , 2020), which need little change in buoyancy; therefore, we chose piston drive. Piston drives are more maneuverable in shallow water than pump drives and are simpler and easier to integrate into small AUVs.…”

Section: Extensible Design and Analysis Of Variable Buoyancy Systemmentioning

confidence: 99%

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Xia,

Li,

Zang

et al. 2024

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Purpose A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller. Design/methodology/approach The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments. Findings The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances. Practical implications A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications. Originality/value This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.

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Section: Extensible Design and Analysis Of Variable Buoyancy Systemmentioning

confidence: 99%

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Xia,

Li,

Zang

et al. 2024

View full text Add to dashboard Cite

show abstract

“…In order to ensure the overall robustness of the formation, it should be less likely to have obvious formation changes due to the disturbance of the external environment and obstacle avoidance behavior, the risk of AUVs colliding with each other within the formation should be reduced, it should be ensured that the AUVs can converge stably, based on the communication structure in the formation AUVs, and the coordination control force within the formation should be based on the position and velocity state information of each AUV [29].…”

Section: Coordination and Control Within The Formationmentioning

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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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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“…Individuals in the swarm update the information interaction rules of the UBMRV swarm through a comprehensive evaluation of their neighbors' distance, speed, orientation, and other factors. The premise of applying swarm formation is to use the sensor to obtain the relative position coordinates of the underwater robot [7]. With the improvements in machine vision, the visual positioning technology of computer vision combined with artificial intelligence has been developed further.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx

Zhao

Zhang

Zhu

et al. 2023

JMSE

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Compared to traditional vehicles, the underwater bionic manta ray vehicle (UBMRV) is highly maneuverable, has strong concealment, and is an emerging research field in underwater vehicles. Based on the completion of the single-body research, it is crucial to research the swarm of UBMRVs for the implementation of complex tasks, such as large-scale underwater detection. The relative positioning capability of the UBMRV is the key to realizing a swarm, especially when underwater acoustic communications are delayed. To solve the real-time relative positioning problem between individuals in the UBMRV swarm, this study proposes a relative positioning method based on the combination of the improved object detection algorithm and binocular distance measurement. To increase the precision of underwater object detection in small samples, this paper improves the original YOLOx algorithm. It increases the network’s interest in the object area by adding an attention mechanism module to the network model, thereby improving its detection accuracy. Further, the output of the object detection result is used as the input of the binocular distance measurement module. We use the ORB algorithm to extract and match features in the object-bounding box and obtain the disparity of the features. The relative distance and bearing information of the target are output and shown on the image. We conducted pool experiments to verify the proposed algorithm on the UBMRV platform, proved the method’s feasibility, and analyzed the results.

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Multi-autonomous underwater vehicle formation control and cluster search using a fusion control strategy at complex underwater environment

Cited by 43 publications

References 31 publications

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

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

Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx

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