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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...

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Detalles Bibliográficos
Autores principales: Wang, Xiaomin, Zhang, Xiaohan, Zheng, Zhou, Kong, Xu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: PeerJ Inc. 2023
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.
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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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