Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication.
PeerJ Comput Sci
; 9: e1358, 2023.
Article
en En
| MEDLINE
| ID: mdl-37346662
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.
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1
Colección:
01-internacional
Base de datos:
MEDLINE
Idioma:
En
Revista:
PeerJ Comput Sci
Año:
2023
Tipo del documento:
Article
País de afiliación:
China
Pais de publicación:
Estados Unidos