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Research on thermocline tracking based on multiple autonomous underwater vehicles
Li Z(李震)1,2; Li YP(李一平)1,2
Department水下机器人研究室
Conference Name2018 International Conference on Electronics and Electrical Engineering Technology, EEET 2018
Conference DateSeptember 19-21, 2018
Conference PlaceTianjin, China
Source PublicationProceedings of 2018 International Conference on Electronics and Electrical Engineering Technology, EEET 2018
PublisherACM
Publication PlaceNew York
2018
Pages122-127
Indexed ByEI
EI Accession number20190506448937
Contribution Rank1
ISBN978-1-4503-6541-3
KeywordArtificial potential field Multiple autonomous underwater vehicles (AUV) Thermocline tracking Virtual leader
AbstractThermocline is of great significance to marine scientific research. Multi-autonomous underwater vehicles (AUV) have great advantages over single autonomous underwater vehicle in ocean observation. This paper describes a control method for multi-agent formation. Based on this method, a strategy of multi-AUV formation for thermocline tracking is proposed. This paper firstly analyzes the stability of the formation control method based on the virtual body and artificial potential method (VBAP), and verifies the feasibility of this control method on the target-tracking problem by tracking a curved surface in space. Where after, in this paper, a thermocline tracking strategy based on vertical temperature gradient is proposed. Then the simulation experiment is designed based on the above control method and temperature data. The experimental results express that the multi-AUV formation can always keep working between the upper and lower boundary of thermocline, and tracks the thermocline effectively. © 2018 Association for Computing Machinery.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24131
Collection水下机器人研究室
Corresponding AuthorLi Z(李震)
Affiliation1.State key Laboratory of Robotics, Shenyang Institute of Automation Shenyang, Liaoning Province, China
2.College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Li Z,Li YP. Research on thermocline tracking based on multiple autonomous underwater vehicles[C]. New York:ACM,2018:122-127.
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