Multi-AUVs formation control with acoustic communication constraints
文献类型：会议论文
| 作者 | Xu HL(徐红丽) ; Li GN(李冠男)
|
| 出版日期 | 2013 |
| 会议名称 | OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common |
| 会议日期 | September 23-26, 2013 |
| 会议地点 | San Diego, CA, United states |
| 关键词 | Algorithms Experiments Oceanography Underwater acoustics |
| 中文摘要 | Formation control has received significant attention in the field of multiple autonomous underwater vehicles (AUVs) in recent years. There are many theoretical methods for solving this problem. But when applying these methods to an actual multiple AUVs system, communication constraints need to be considered because acoustic communication among multiple AUVs often is unreliable in actual ocean environment. This paper focuses on application and validation of a leader-follower approach on multi-AUVs formation maintenance with acoustic communication constraints. The communication interval between AUVs and packet loss rate are researched based on experiments. A leader-follower formation control algorithm based on a Line-Of- Sight guidance law is proposed. The simulation and experiment results show that the proposed method is effective and feasible when keeping a formation with a long delay of underwater acoustic communication, and it is also suitable for short-time communication interruption. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | OCEANS 2013 MTS/IEEE; San Diego: An Ocean in Common
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| WOS记录号 | WOS:000334165800080 |
| 源URL | [http://ir.sia.cn/handle/173321/14571]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 推荐引用方式 GB/T 7714 | Xu HL,Li GN. Multi-AUVs formation control with acoustic communication constraints[C]. 见:OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common. San Diego, CA, United states. September 23-26, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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