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Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication
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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
PeerJ Inc.
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10280645/ https://www.ncbi.nlm.nih.gov/pubmed/37346662 http://dx.doi.org/10.7717/peerj-cs.1358 |
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author | Wang, Xiaomin Zhang, Xiaohan Zheng, Zhou Kong, Xu |
author_facet | Wang, Xiaomin Zhang, Xiaohan Zheng, Zhou Kong, Xu |
author_sort | Wang, Xiaomin |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-10280645 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | PeerJ Inc. |
record_format | MEDLINE/PubMed |
spelling | pubmed-102806452023-06-21 Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication Wang, Xiaomin Zhang, Xiaohan Zheng, Zhou Kong, Xu PeerJ Comput Sci Agents and Multi-Agent Systems 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. PeerJ Inc. 2023-04-24 /pmc/articles/PMC10280645/ /pubmed/37346662 http://dx.doi.org/10.7717/peerj-cs.1358 Text en © 2023 Wang et al. https://creativecommons.org/licenses/by/4.0/This is an open access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/) , which permits unrestricted use, distribution, reproduction and adaptation in any medium and for any purpose provided that it is properly attributed. For attribution, the original author(s), title, publication source (PeerJ Computer Science) and either DOI or URL of the article must be cited. |
spellingShingle | Agents and Multi-Agent Systems Wang, Xiaomin Zhang, Xiaohan Zheng, Zhou Kong, Xu Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication |
title | Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication |
title_full | Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication |
title_fullStr | Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication |
title_full_unstemmed | Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication |
title_short | Hybrid coordination for the fast formation building of multi-small-AUV systems with the on-board cameras and limited communication |
title_sort | hybrid coordination for the fast formation building of multi-small-auv systems with the on-board cameras and limited communication |
topic | Agents and Multi-Agent Systems |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10280645/ https://www.ncbi.nlm.nih.gov/pubmed/37346662 http://dx.doi.org/10.7717/peerj-cs.1358 |
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