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Research on cooperative area search of multiple underwater robots based on the prediction of initial target information
Jia QY(贾庆勇)1,2; Xu HL(徐红丽)1; Feng XS(封锡盛)1; Gu HT(谷海涛)1; Gao L(高雷)1
Department海洋信息技术装备中心
Source PublicationOCEAN ENGINEERING
ISSN0029-8018
2019
Volume172Pages:660-670
Indexed BySCI
WOS IDWOS:000458591300053
KeywordMoving target Cooperative area search Target existence probability Predict control Multiple underwater robots
AbstractA novel distributed cooperative search strategy for multiple underwater robots is proposed based on the initial target information, so as to reduce the average time of searching target and improve the search target probability in statistical sense. The cooperative search strategy divides the target search process into two phases. In the first search stage, the underwater robot predicts the possible existence range of the target based on the speed and the elapsed time of the target. When the underwater robot is not in the target prediction range, it directly moves towards the initial position of the target to reduce the time of the blind search. In the second search stage, the underwater robot enters the target prediction range, then the target existence probability is updated in real time according to the sensor detection results, and the predictive control thought is used to make optimization decisions according to the target existence probability. Finally, the Monte Carlo simulation experiments are carried out for 1000 times. The proposed search strategy in this paper is compared with the cooperative search strategy with no target initial information. The comparison results show the effectiveness and feasibility of searching a moving target using the proposed search strategy.(1)
Language英语
WOS SubjectEngineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
WOS KeywordBAYESIAN SEARCH ; TRACKING ; OPTIMIZATION
WOS Research AreaEngineering ; Oceanography
Funding ProjectEquipment Pre-research Joint Foundation[6141A01061601] ; Science and Technology Innovation Foundation of Chinese Academy of Sciences[CXJJ-17-M130] ; State Key Laboratory of Robotics Foundation[2016-Z08] ; State Key Laboratory of Robotics Foundation[2016-Z08] ; Science and Technology Innovation Foundation of Chinese Academy of Sciences[CXJJ-17-M130] ; Equipment Pre-research Joint Foundation[6141A01061601]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24044
Collection海洋信息技术装备中心
Corresponding AuthorJia QY(贾庆勇)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Jia QY,Xu HL,Feng XS,et al. Research on cooperative area search of multiple underwater robots based on the prediction of initial target information[J]. OCEAN ENGINEERING,2019,172:660-670.
APA Jia QY,Xu HL,Feng XS,Gu HT,&Gao L.(2019).Research on cooperative area search of multiple underwater robots based on the prediction of initial target information.OCEAN ENGINEERING,172,660-670.
MLA Jia QY,et al."Research on cooperative area search of multiple underwater robots based on the prediction of initial target information".OCEAN ENGINEERING 172(2019):660-670.
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