A research of multiple autonomous underwater vehicles cooperative target hunting based on formation control

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	A research of multiple autonomous underwater vehicles cooperative target hunting based on formation control
	Li L(李良)1,2,3,4; Li YP(李一平)1,2,4; Zeng JB(曾俊宝)1,4; Xu YP(徐高朋)1,4; Zhang YX( 张岳星)1,2,3,4; Feng XS(封锡盛)1,2,4
	2021
会议日期	July 15-17, 2021
会议地点	Dalian, China
关键词	target hunting multiple AUVs formation control field test
页码	22-27
英文摘要	The problem of multiple autonomous underwater vehicles (AUVs) cooperative target hunting is an important research topic for its potential applications, including military and civil. This paper proposes a method based on formation control to improve the efficiency and accuracy of target hunting. Firstly, AUVs run together to search the target in a large area where the target probably exists. At this stage, an improved leader-follower formation control algorithm is used to gather AUVs with the desired formation. Then after the recognition of the target, a route is planned for the pursuing of the target, and a formation control method based on the position feedback is presented to close and round up the target gradually. Finally, AUVs have the capacity to catch it. There is a standard set up to calculate the error of the formation control quantitatively. The field performance proves that AUVs can keep an expected formation well based on the formation control method to solve the problem of target hunting.
产权排序	1
会议录	2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-3576-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29900]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Li L(李良)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 2.Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 110169, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Li L,Li YP,Zeng JB,et al. A research of multiple autonomous underwater vehicles cooperative target hunting based on formation control[C]. 见:. Dalian, China. July 15-17, 2021.