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Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †
This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is mod...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2017
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5539507/ https://www.ncbi.nlm.nih.gov/pubmed/28696377 http://dx.doi.org/10.3390/s17071607 |
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author | Cai, Wenyu Zhang, Meiyan Zheng, Yahong Rosa |
author_facet | Cai, Wenyu Zhang, Meiyan Zheng, Yahong Rosa |
author_sort | Cai, Wenyu |
collection | PubMed |
description | This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the [Formula: see text] plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve [Formula: see text] continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem. |
format | Online Article Text |
id | pubmed-5539507 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-55395072017-08-11 Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves † Cai, Wenyu Zhang, Meiyan Zheng, Yahong Rosa Sensors (Basel) Article This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the [Formula: see text] plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve [Formula: see text] continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem. MDPI 2017-07-11 /pmc/articles/PMC5539507/ /pubmed/28696377 http://dx.doi.org/10.3390/s17071607 Text en © 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Cai, Wenyu Zhang, Meiyan Zheng, Yahong Rosa Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves † |
title | Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves † |
title_full | Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves † |
title_fullStr | Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves † |
title_full_unstemmed | Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves † |
title_short | Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves † |
title_sort | task assignment and path planning for multiple autonomous underwater vehicles using 3d dubins curves † |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5539507/ https://www.ncbi.nlm.nih.gov/pubmed/28696377 http://dx.doi.org/10.3390/s17071607 |
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