A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle

doi:10.1631/FITEE.1700732

	A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle
	Jin, Jiu-cai 1; Zhang, Jie 1; Lv, Zhi-chao 1,2
刊名	FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING
	2019-06
卷号	20 期号:6 页码:751-759
关键词	Unmanned surface vehicle Data collection Underwater acoustic communication Gradient climbing Extremum seeking
ISSN号	2095-9184
DOI	10.1631/FITEE.1700732
英文摘要	A novel controller for finding the best communication point is proposed for collecting data from a seabed platform by a single unmanned surface vehicle (USV) using underwater acoustic communication (UAC). As far as we know, extremum seeking based on climbing control is usually implemented by multiple vehicles or agents because of the large range of measurement and easy acquisition of gradient estimation. A single vehicle cannot rapidly estimate the field because of the limited extent for measurement; therefore, it is difficult for a single vehicle to seek the extremum point in a field. In this study, an oscillation motion (OM) is designed for a single USV to acquire UAC's link strength data between the seabed platform and the USV. The field for UAC's link strength is updated using new measurement from an OM of the USV based on a multi-variable weight linear iteration method. A controller for seeking the best UAC's point of the USV is designed using gradient climbing and artificial potential considering iterative estimation of an unknown field and an OM operation, and the stability is proved. The reliability and efficiency are shown in simulation results.
资助项目	Public Science and Technology Research Funds Projects of Ocean, China[201505005-2]
WOS关键词	EXTREMUM SEEKING ; UNDERWATER ; NAVIGATION ; NETWORKS ; DESCENT ; SYSTEM
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	ZHEJIANG UNIV
WOS记录号	WOS:000475565900001
内容类型	期刊论文
源URL	[http://ir.fio.com.cn:8080/handle/2SI8HI0U/24627]
专题	自然资源部第一海洋研究所
通讯作者	Jin, Jiu-cai
作者单位	1.First Inst Oceanog, Minist Nat Resources, Qingdao 266061, Shandong, Peoples R China 2.Harbin Engn Univ, Coll Underwater Acoust Engn, Harbin 150001, Heilongjiang, Peoples R China
推荐引用方式 GB/T 7714	Jin, Jiu-cai,Zhang, Jie,Lv, Zhi-chao. A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle[J]. FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,2019,20(6):751-759.
APA	Jin, Jiu-cai,Zhang, Jie,&Lv, Zhi-chao.(2019).A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle.FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,20(6),751-759.
MLA	Jin, Jiu-cai,et al."A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle".FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING 20.6(2019):751-759.