Multi-UUV/USV Adaptive Cooperative Search Using Online State Information

Wenjie Li, Jian Gao, Yimin Chen, Pei Cui, Junjun Lv, Guang Pan

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

Unmanned Surface Vessel (USV) and Unmanned Underwater Vehicle (UUV) detect the same task plane while located in different planes, and have to avoid obstacles autonomously in cooperative search in unknown environments. This paper proposes an adaptive cooperative search method for a USV/UUV heterogeneous cross-domain swarm based on online state information. Considering the different planes of USV/UUV detection, we establish a USV/UUV detection model with a forward-looking sonar according to the cross-sectional view. In order to guarantee the safety of USV/UUV, an obstacle avoidance algorithm based on predictive guidance is designed. Finally, the task environment is rasterized to establish the state information structure of grids and USV/UUV. On this basis, USV/UUV adaptively plans the search path according to its own motion state. The state information of each grid is updated online until USV/UUV swarm completes the search task. Simulation results show that USV/UUV can accomplish cooperative search safely in an unknown environment. Compared with a UUV homogeneous swarm, the USV/UUV swarm shortens the search time and improves the cooperative search efficiency.

源语言英语
主期刊名Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
编辑Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhouping Yin, Lianqing Liu, Zhiyong Wang
出版商Springer Science and Business Media Deutschland GmbH
269-280
页数12
ISBN(印刷版)9789819964970
DOI
出版状态已出版 - 2023
活动16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, 中国
期限: 5 7月 20237 7月 2023

出版系列

姓名Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
14273 LNAI
ISSN(印刷版)0302-9743
ISSN(电子版)1611-3349

会议

会议16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
国家/地区中国
Hangzhou
时期5/07/237/07/23

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