Results 171 to 180 of about 1,858 (201)

Distributed vector optimization design for multi-AUV systems

2017 36th Chinese Control Conference (CCC), 2017
This paper proposes a distributed controller to optimize a sum of state-dependent vector objective functions for multi-Autonomous Underwater Vehicle (AUV) systems. In particular, each AUV has a local private objective and can only interact with its neighboring AUVs, which are described by undirected graphs, to measure relative states. Using 6 degree of
Zhuo Li, Keyou You, Shiji Song
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Multi-AUVs for Visual Mapping Tasks

2008
The present paper describes a system for the construction of visual maps (“mosaics”) and motion estimation for a set of AUVs (Autonomous Undersea Vehicle). Robots are equipped with down-looking camera which are used to estimate their motion with respect to the seafloor and to built real-time mosaic. As the mosaic increases in size, a systematic bias is
S. Botelho, R. Costa, R. Neves, C. Madsen, V. Oliveira   +4 more
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A maximum entropy method for multi-AUV grouping

Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600), 2005
A vector-quantization formulation is used to define a grouping problem for multiple AUVs in a sampled environment. The objective is to minimize a quantization error function. The self-organizing network structure developed by Kohonen is a famous quantization model.
null Jenhwa Guo, null Hung-Yuan Wei, null Forng-Chen Chiu, null Sheng-Wen Cheng   +3 more
openaire   +1 more source

Multi AUVs Cooperative Navigation Based on Information Entropy

OCEANS 2018 MTS/IEEE Charleston, 2018
With the increasing exploration of the marine resources, cooperative navigation (CN) of multi autonomous underwater vehicles (AUVs) can improve exploration efficiency and accuracy. In order to improve the positioning accuracy in the CN, we propose the Information Entropy (IE) algorithm, which can evaluate the measurement informations, and choosing the ...
Lichuan Zhang, Xiuye Tao, Haojiao Liang
openaire   +1 more source

An improved multi-AUV patrol path planning method

2017 IEEE International Conference on Mechatronics and Automation (ICMA), 2017
In dealing with complex environment AUV cooperative path planning, traditional particle swarm optimization (PSO) algorithm because of its lack of constraints, in the update process will have a certain probability to produce an infeasible path. In addition, for the nearshore shallow sea environment, its ocean currents will have a certain impact on the ...
Zheping Yan, Jingwen He, Juan Li
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Stabilization of multi-AUV formation with digital control

2016 39th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO), 2016
Formation stability problem for a team of autonomous underwater vehicles (AUV) with digital control is investigated. A leader-follower formation control algorithm for multi-AUV system is proposed. Feedback control signal for the follower, which is piecewise constant, is computed on the basis of discrete measurements of the distance and the bearing ...
S.A. Ul'yanov, N.N. Maximkin
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Cooperative multi-AUV localization using distributed extended information filter

2016 IEEE/OES Autonomous Underwater Vehicles (AUV), 2016
Cooperative multi-AUV localization has the potential to outperform single-AUV localization, by taking advantage of data sharing among the team members. Unlike terrestrial communication links, underwater communication links have many issues pertaining to the channel stability and bandwidth, and therefore a decentralized localization is preferred ...
Gao Rui, Mandar Chitre
openaire   +1 more source

Multi-AUV coordination in the underwater environment with obstacles

OCEANS'10 IEEE SYDNEY, 2010
A concept of extended formation which is derived by combining the destination and obstacles in the underwater environment as elements into the traditional formation of AUVs is proposed. In extended formation, an improved potential-field-based approach is introduced to coordinate multiple autonomous underwater vehicles (AUVs).
Y. Yang, S. X. Wang, Z. L. Wu
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Plume Source Localization Based on Multi-AUV System

2012
Multi-AUV system has advantages in high-accuracy localization with cooperative navigation and adaptive sampling with space–time distribution. It is expected to be a valuable platform in searching for hydrothermal vents, unexploded ordnances, and sources of hazardous chemicals or pollutants.
Hongli Xu, Xiaodong Kang
openaire   +1 more source

Triangle Formation Control of Multi-AUVs with Communication Constraints

Applied Mechanics and Materials, 2014
Aimed at solving the problem of multi-AUVs formation control, an analysis has been made on a triangle formation based on leader-follower construction, with a multi-AUVs formation controller designed with communication constraints taken into account. The desired velocity of the follower is the resultant velocity of three component velocities, each of ...
Guan Nan Li, Hui Ying Dong, Hong Li Xu
openaire   +1 more source