Assigning Multiple AUVs to Form Arrays Under Communication Range Limitations Based on the Element Zero Method | |
Zhang J(张进)1,4; Li W(李伟)3; Kang S(康帅)1,4; Yu JC(俞建成)1,4; Chen, Sherry2 | |
刊名 | IEEE Systems Journal |
2021 | |
卷号 | 15期号:2页码:1664-1673 |
关键词 | Array of autonomous underwater vehicles (AUVs) communication limitations multiple AUVs optimal assignment underwater vehicles |
ISSN号 | 1932-8184 |
产权排序 | 1 |
英文摘要 | The array formed by multiple AUVs can effectively improve target detection capabilities when each AUV is equipped with a sonar unit. However, due to the limited data processing capabilities of an AUV and its communication range limitations, efficiently forming and transforming arrays are challenging. Therefore, this article innovatively uses the optimal assignment in operations research to solve this problem and proposes an element zero method to efficiently assign multiple AUVs to arrays. First, a cost matrix consisting of the distance cost of each AUV for reaching their different assigned positions in the array is generated. Second, the preprocessing and postprocessing steps are combined to increase the number of zeros in the generated cost matrix. Third, the space tree method based on the depth-first search rule is used to find ${\bm{n}}$ independent zeros of different rows and columns. Fourth, the optimal assignment is adjusted after considering the communication range limitations. To verify the feasibility and effectiveness of the proposed method, the simulation experiments of array formation and transformation are performed for multiple numbers of AUVs. The results of this article show that the proposed method has significant advantages over the Hungarian method, and thus suggests that the proposed method is effective. |
语种 | 英语 |
WOS记录号 | WOS:000659552700016 |
资助机构 | National Natural Science Foundation of China under Grant 51909257 ; State Key Laboratory of Robotics at Shenyang Institute of Automation under Grant 2019-Z13 ; National Natural Science Foundation of China under Grant U1709202 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/28207] |
专题 | 海洋机器人卓越创新中心 |
通讯作者 | Zhang J(张进) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016 China 2.Intelligent Fusion Technology, Inc., Germantown, MD 20876 USA 3.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, CA 93311 USA 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169 China |
推荐引用方式 GB/T 7714 | Zhang J,Li W,Kang S,et al. Assigning Multiple AUVs to Form Arrays Under Communication Range Limitations Based on the Element Zero Method[J]. IEEE Systems Journal,2021,15(2):1664-1673. |
APA | Zhang J,Li W,Kang S,Yu JC,&Chen, Sherry.(2021).Assigning Multiple AUVs to Form Arrays Under Communication Range Limitations Based on the Element Zero Method.IEEE Systems Journal,15(2),1664-1673. |
MLA | Zhang J,et al."Assigning Multiple AUVs to Form Arrays Under Communication Range Limitations Based on the Element Zero Method".IEEE Systems Journal 15.2(2021):1664-1673. |
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