Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication.

具有机载摄像机和有限通信的多小型 AUV 系统的快速编队构建的混合协调。

• 影响指数: 2.411
• 发表时间: 2023
• 来源期刊: PeerJ Comput Sci
• DOI: 10.7717/peerj-cs.1358
• PMID: 37346662
• 文章类型: Journal Article
• 作者列表: Wang X,Zhang X,Zheng Z,Kong X

关键词: Fast convergence; Hybrid coordination strategy; Multi-small-AUV system; Pattern formation; Visual servoing

Abstract

Formation building for multi-small-AUV systems with on-board cameras is crucial under the limited communication underwater environment. A hybrid coordination strategy is proposed for the rapid convergence to a leader-follower pattern. The strategy consists of two parts: a time-optimal local-position-based controller (TOLC) and a distributed asynchronous discrete weighted consensus controller (ADWCC). The TOLC controller is designed to optimize the assignation of AUVs\' destinations in the given pattern and guide each AUV to its destination by the shortest feasible distance. The ADWCC controller is developed to direct the AUVs blocked by obstacles to reach their destinations with the information from the perceived neighbors by on-board cameras. The rapidity of the proposed strategy is theoretically discussed. The effectiveness of the proposed algorithm has been verified in the simulation environments in both MATLAB and Blender.

摘要

在通信受限的水下环境下，具有机载摄像机的多小型AUV系统的编队建设至关重要。为了快速收敛到领导者-追随者模式，提出了一种混合协调策略。该策略包括两部分：基于时间最优局部位置的控制器（TOLC）和分布式异步离散加权一致性控制器（ADWCC）。TOLC控制器旨在优化给定模式中AUV目的地的分配，并以最短的可行距离将每个AUV引导至其目的地。ADWCC控制器的开发是为了引导被障碍物阻挡的AUV到达目的地，并利用车载摄像机感知到的邻居的信息。从理论上讨论了所提出策略的快速性。在MATLAB和Blender的仿真环境中验证了该算法的有效性。