Research on cooperative area search of multiple underwater robots based on the prediction of initial target information
文献类型：期刊论文
| 作者 | Xu HL(徐红丽)1 ; Gu HT(谷海涛)1; Gao L(高雷)1; Jia QY(贾庆勇)1,2; Feng XS(封锡盛)1
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| 刊名 | OCEAN ENGINEERING
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| 出版日期 | 2019 |
| 卷号 | 172页码:660-670 |
| 关键词 | Moving target Cooperative area search Target existence probability Predict control Multiple underwater robots |
| ISSN号 | 0029-8018 |
| 英文摘要 | A novel distributed cooperative search strategy for multiple underwater robots is proposed based on the initial target information, so as to reduce the average time of searching target and improve the search target probability in statistical sense. The cooperative search strategy divides the target search process into two phases. In the first search stage, the underwater robot predicts the possible existence range of the target based on the speed and the elapsed time of the target. When the underwater robot is not in the target prediction range, it directly moves towards the initial position of the target to reduce the time of the blind search. In the second search stage, the underwater robot enters the target prediction range, then the target existence probability is updated in real time according to the sensor detection results, and the predictive control thought is used to make optimization decisions according to the target existence probability. Finally, the Monte Carlo simulation experiments are carried out for 1000 times. The proposed search strategy in this paper is compared with the cooperative search strategy with no target initial information. The comparison results show the effectiveness and feasibility of searching a moving target using the proposed search strategy.(1) |
| WOS关键词 | BAYESIAN SEARCH ; TRACKING ; OPTIMIZATION |
| 资助项目 | State Key Laboratory of Robotics Foundation[2016-Z08] ; Science and Technology Innovation Foundation of Chinese Academy of Sciences[CXJJ-17-M130] ; Equipment Pre-research Joint Foundation[6141A01061601] |
| WOS研究方向 | Engineering ; Oceanography |
| 语种 | 英语 |
| WOS记录号 | WOS:000458591300053 |
| 源URL | [http://ir.sia.cn/handle/173321/24044]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 通讯作者 | Jia QY(贾庆勇) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China 2.University of Chinese Academy of Sciences, Beijing, 100049, China |
| 推荐引用方式 GB/T 7714 | Xu HL,Gu HT,Gao L,et al. Research on cooperative area search of multiple underwater robots based on the prediction of initial target information[J]. OCEAN ENGINEERING,2019,172:660-670. |
| APA | Xu HL,Gu HT,Gao L,Jia QY,&Feng XS.(2019).Research on cooperative area search of multiple underwater robots based on the prediction of initial target information.OCEAN ENGINEERING,172,660-670. |
| MLA | Xu HL,et al."Research on cooperative area search of multiple underwater robots based on the prediction of initial target information".OCEAN ENGINEERING 172(2019):660-670. |
入库方式： OAI收割
来源：沈阳自动化研究所
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