Research on thermocline tracking based on multiple autonomous underwater vehicles
文献类型：会议论文
| 作者 | Li YP(李一平)1,2 ; Li Z(李震)1,2
|
| 出版日期 | 2018 |
| 会议日期 | September 19-21, 2018 |
| 会议地点 | Tianjin, China |
| 关键词 | Artificial potential field Multiple autonomous underwater vehicles (AUV) Thermocline tracking Virtual leader |
| 页码 | 122-127 |
| 英文摘要 | Thermocline is of great significance to marine scientific research. Multi-autonomous underwater vehicles (AUV) have great advantages over single autonomous underwater vehicle in ocean observation. This paper describes a control method for multi-agent formation. Based on this method, a strategy of multi-AUV formation for thermocline tracking is proposed. This paper firstly analyzes the stability of the formation control method based on the virtual body and artificial potential method (VBAP), and verifies the feasibility of this control method on the target-tracking problem by tracking a curved surface in space. Where after, in this paper, a thermocline tracking strategy based on vertical temperature gradient is proposed. Then the simulation experiment is designed based on the above control method and temperature data. The experimental results express that the multi-AUV formation can always keep working between the upper and lower boundary of thermocline, and tracks the thermocline effectively. © 2018 Association for Computing Machinery. |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2018 International Conference on Electronics and Electrical Engineering Technology, EEET 2018
 |
| 会议录出版者 | ACM |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-4503-6541-3 |
| WOS记录号 | WOS:000482814400023 |
| 源URL | [http://ir.sia.cn/handle/173321/24131]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Li Z(李震) |
| 作者单位 | 1.College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning Province, China 2.State key Laboratory of Robotics, Shenyang Institute of Automation Shenyang, Liaoning Province, China |
| 推荐引用方式 GB/T 7714 | Li YP,Li Z. Research on thermocline tracking based on multiple autonomous underwater vehicles[C]. 见:. Tianjin, China. September 19-21, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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