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Hongfei Li, Daqi Zhu, Mingzhi Chen, Tong Wang and Hongxiu Zhu
Task assignment is of paramount importance in multi-AUV systems, particularly in applications such as bridge inspection where task execution is direction-specific. In such scenarios, the underactuation of AUVs is a critical factor that cannot be ignored....
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Zheping Yan, Lidong Yue, Jiajia Zhou, Xiaoli Pan and Chao Zhang
In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position?velocity communication topology and control inputs on a nonconvex set is studie...
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Xinyu Hu, Yu Shi, Guiqiang Bai and Yanli Chen
When multiple AUVs are combined in formation, they can improve operational efficiency while maintaining mutual communication. This article focuses on the obstacle avoidance problems en-countered by AUV formations during collaborative search and target ca...
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Dan Yu, Hongjian Wang, Benyin Li, Zhao Wang, Jingfei Ren and Xiaoning Wang
The assessment of multiple incoming autonomous underwater vehicles (multi-AUVs) and threat prioritization are critical to underwater defense. To solve problems troubling multi-AUV threat assessment solutions, such as difficult data analysis, high subject...
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Davide Chiarella
The underwater environment is a harmful environment, yet one of the richest and least exploited. For these reasons the idea of a robotic companion with the task of supporting and monitoring divers during their activities and operations has been proposed....
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Juan Li, Zhenyang Tian, Gengshi Zhang and Wenbo Li
For the problem of hydroacoustic communication constraints in multi-AUV leader follower formation, this paper designs a formation control method combining CNN-LSTM prediction and backstepping sliding mode control. First, a feedback linearization method i...
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Linling Wang, Xiaoyan Xu, Bing Han and Huapeng Zhang
In this paper, multiple autonomous underwater vehicle (multi-AUV) formation control with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. Firstly, multi-AUV motion m...
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Mingyao Zhang, Zheping Yan, Jiajia Zhou and Lidong Yue
This paper focuses on the collision-free formation tracking of autonomous underwater vehicles (AUVs) with compound disturbances in complex ocean environments. We propose a novel finite-time extended state observer (FTESO)-based distributed dual closed-lo...
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Zixiao Zhu, Lichuan Zhang, Lu Liu, Dongwei Wu, Shuchang Bai, Ranzhen Ren and Wenlong Geng
Positioning errors introduced by low-precision navigation devices can affect the overall accuracy of a positioning system. To address this issue, this paper proposes a master-slave multi-AUV collaborative navigation method based on hierarchical reinforce...
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Xiaoli Pan, Zheping Yan, Heming Jia, Jiajia Zhou and Lidong Yue
Formation control, which is a core problem in multi-autonomous underwater vehicle (AUV) systems, plays an important role in realizing safe and accurate cooperation of multi-AUV systems. This paper provides a study on fault-tolerant formation control for ...
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