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

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

doi:10.1007/978-981-99-6498-7_24

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

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

航海学院

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
页	269-280
页数	12
ISBN（印刷版）	9789819964970
DOI	https://doi.org/10.1007/978-981-99-6498-7_24
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 2023 → 7 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)
卷	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
市	Hangzhou
时期	5/07/23 → 7/07/23

访问文件

10.1007/978-981-99-6498-7_24

其它文件与链接

链接到 Scopus 的出版物

引用此

Li, W., Gao, J., Chen, Y., Cui, P., Lv, J., & Pan, G. (2023). Multi-UUV/USV Adaptive Cooperative Search Using Online State Information. 在 H. Yang, J. Zou, G. Yang, X. Ouyang, H. Liu, Z. Yin, L. Liu, & Z. Wang (编辑), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (页码 269-280). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14273 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6498-7_24

Li, Wenjie ; Gao, Jian ; Chen, Yimin 等. / Multi-UUV/USV Adaptive Cooperative Search Using Online State Information. 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. Springer Science and Business Media Deutschland GmbH, 2023. 页码 269-280 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{faaf2eb0ae244cb8b76a4b19762d3001,

title = "Multi-UUV/USV Adaptive Cooperative Search Using Online State Information",

abstract = "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.",

keywords = "Cooperative search, Detection model, Heterogeneous swarm, USV/UUV",

author = "Wenjie Li and Jian Gao and Yimin Chen and Pei Cui and Junjun Lv and Guang Pan",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

year = "2023",

doi = "10.1007/978-981-99-6498-7_24",

language = "英语",

isbn = "9789819964970",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "269--280",

editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhouping Yin and Lianqing Liu and Zhiyong Wang",

booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",

}

Li, W, Gao, J, Chen, Y, Cui, P, Lv, J & Pan, G 2023, Multi-UUV/USV Adaptive Cooperative Search Using Online State Information. 在 H Yang, J Zou, G Yang, X Ouyang, H Liu, Z Yin, L Liu & Z Wang (编辑), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 卷 14273 LNAI, Springer Science and Business Media Deutschland GmbH, 页码 269-280, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, 中国, 5/07/23. https://doi.org/10.1007/978-981-99-6498-7_24

Multi-UUV/USV Adaptive Cooperative Search Using Online State Information. / Li, Wenjie; Gao, Jian; Chen, Yimin 等.
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. Springer Science and Business Media Deutschland GmbH, 2023. 页码 269-280 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14273 LNAI).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Multi-UUV/USV Adaptive Cooperative Search Using Online State Information

AU - Li, Wenjie

AU - Gao, Jian

AU - Chen, Yimin

AU - Cui, Pei

AU - Lv, Junjun

AU - Pan, Guang

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - Cooperative search

KW - Detection model

KW - Heterogeneous swarm

KW - USV/UUV

UR - http://www.scopus.com/inward/record.url?scp=85176013957&partnerID=8YFLogxK

U2 - 10.1007/978-981-99-6498-7_24

DO - 10.1007/978-981-99-6498-7_24

M3 - 会议稿件

AN - SCOPUS:85176013957

SN - 9789819964970

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 269

EP - 280

BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Zou, Jun

A2 - Yang, Geng

A2 - Ouyang, Xiaoping

A2 - Liu, Honghai

A2 - Yin, Zhouping

A2 - Liu, Lianqing

A2 - Wang, Zhiyong

PB - Springer Science and Business Media Deutschland GmbH

T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

Y2 - 5 July 2023 through 7 July 2023

ER -

Li W, Gao J, Chen Y, Cui P, Lv J, Pan G. Multi-UUV/USV Adaptive Cooperative Search Using Online State Information. 在 Yang H, Zou J, Yang G, Ouyang X, Liu H, Yin Z, Liu L, Wang Z, 编辑, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. 页码 269-280. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6498-7_24

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

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