Results 71 to 80 of about 2,405 (164)
A Hierarchical Control System for Heterogeneous Multiple UUV Cooperation Task
, 2008 针对异构多UUV协作任务,提出了基于多智能体系统的分层式体系结构(MAHA).在个体层面,将UUV智能体的思维状态分为社会心智和个体心智两个层次分别实现,更加符合人类社会协作模式;在群体层面,提出了复杂海洋环境下UUV群体结构的评价准则,并据此将MAHA与现有结构进行了对比分析.此外,利用面向对象的Petri网理论建立了系统的协作模型,有效降低了系统建模的复杂性.最后,水下多目标搜索使命的实例研究表明 ...
封锡盛, 李一平, 许真珍
core
, 2008 由不同功能UUV组成的异构系统能够实现对水下多个目标的探测和识别，多台UUV的协作机制已经成为当前水下机器人领域的一个热点课题。论文的研究工作依托国家863计划“基于弱通信的多机器人协调控制关键技术研究”等多项课题，面向水下多目标搜索应用背景，针对水下声学通信以及探测、导航传感器的局限性，研究弱通信条件下异构多UUV系统协作机制及实现方法，具体研究内容包括如下几个方面： (1) 构建了异构多UUV系统的体系结构：提出了基于多智能体角色联盟的UUV群体体系结构 ...
许真珍
core
Current Status and Future Directions of Multiple UUV Cooperation System
, 2007 介绍了多UUV(Unmanned Underwater Vehicle)协作系统的结构和特点,分析了其未来应用前景,并对国外多UUV系统的应用现状进行了综述.在此基础上,着重分析了系统涉及的导航、通信 ...
封锡盛, 许真珍
core
A Polar Initial Alignment Algorithm for Unmanned Underwater Vehicles
Sensors, 2017 Due to its highly autonomy, the strapdown inertial navigation system (SINS) is widely used in unmanned underwater vehicles (UUV) navigation. Initial alignment is crucial because the initial alignment results will be used as the initial SINS value, which ...
Zheping Yan +5 more
doaj +1 more source
Key Technologies of Underwater Wireless Optical Communication for UUV Swarm Applications
水下无人系统学报Unmanned undersea vehicle(UUV) swarm cooperation is a core capability for future marine operations, highly dependent on stable and efficient underwater communication technology. Underwater wireless optical communication(UWOC), with its high bandwidth and
Yunzhou ZHU +5 more
doaj +1 more source
Trajectory planning of UUV-assisted UWOC systems based on DQN
Dianxin kexue, 2023 As a key submarine-based communication platform, unmanned underwater vehicle (UUV) can facilitate underwater wireless optical communication (UWOC).However, fluctuating characteristics of water body, different water qualities, multi-user access present ...
Jiawei HU +3 more
doaj
Latin American Journal of Solids and StructuresIn this research, generation of a short and smooth path in three-dimensional space with obstacles for guiding an Unmanned Underwater Vehicle (UUV) without collision is investigated.
Ehsan Zakeri +3 more
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Movement Control in Recovering UUV Based on Two-Stage Discrete T-S Fuzzy Model
Discrete Dynamics in Nature and Society, 2014 A two-stage discrete T-S fuzzy model controller, which is formed by a motion controller and a dynamic controller connected in series, is presented to solve UUV (unmanned underwater vehicle) movement control problem for recovering.
Zheping Yan +3 more
doaj +1 more source
Research on Dynamic Capture Method of Automatic Recovery UUV with USV
, 2018 作为未来海洋无人系统中的重要一环，UUV的续航能力和通信能力十分有限，需要通过能源补给以增强其任务能力。无人水面艇（Unmanned Surface Vehicles，以下简称USV）作为一种小型无人水面平台，其技术发展已经相对成熟，能够联通水下、水上无人平台。为了建立UUV和USV之间的物理联系、打破平台之间的壁垒，使USV成为UUV的有力支撑平台，利用USV自主回收UUV成为了一个亟待突破的瓶颈技术。为了解决上述问题，本文首先提出一套利用USV自主回收UUV的方案 ...
杜俊
core
Research on UUV Obstacle Avoiding Method Based on Recurrent Neural Networks
Complexity, 2019 In this paper, we present an online obstacle avoidance planning method for unmanned underwater vehicle (UUV) based on clockwork recurrent neural network (CW-RNN) and long short-term memory (LSTM), respectively.
Changjian Lin +4 more
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