TY - GEN
T1 - Multi-AUV cooperative target hunting based on improved potential field in underwater environment
AU - Cao, Xiang
AU - Sun, Changyin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/6
Y1 - 2018/7/6
N2 - In this paper, target hunting aims to detect target and surround the detected target using multi-AUV (Multiple Autonomous Underwater Vehicles) in a given area. The main challenge in multi-AUV target hunting is the design of AUV's motion path and coordination mechanism. To conduct the cooperative target hunting by multi-AUV in underwater environment, an integrated algorithm based on improved potential field (IPF) is proposed. Firstly, a potential field function is established according to the information of underwater environment. Then, the dispersion degree, the homodromous degree and district-difference degree are introduced to increase the cooperation of the multi-AUV system. Lastly, the target hunting is solved by embeds the three kinds of degree into the potential field function. The simulation results show that the proposed approach is applicable and feasible for multi-AUV cooperative target hunting.
AB - In this paper, target hunting aims to detect target and surround the detected target using multi-AUV (Multiple Autonomous Underwater Vehicles) in a given area. The main challenge in multi-AUV target hunting is the design of AUV's motion path and coordination mechanism. To conduct the cooperative target hunting by multi-AUV in underwater environment, an integrated algorithm based on improved potential field (IPF) is proposed. Firstly, a potential field function is established according to the information of underwater environment. Then, the dispersion degree, the homodromous degree and district-difference degree are introduced to increase the cooperation of the multi-AUV system. Lastly, the target hunting is solved by embeds the three kinds of degree into the potential field function. The simulation results show that the proposed approach is applicable and feasible for multi-AUV cooperative target hunting.
KW - Cooperative target hunting
KW - Improved potential field
KW - Multi-AUV
KW - Underwater environment
UR - https://www.scopus.com/pages/publications/85050587172
U2 - 10.1109/YAC.2018.8406357
DO - 10.1109/YAC.2018.8406357
M3 - 会议稿件
AN - SCOPUS:85050587172
T3 - Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
SP - 118
EP - 122
BT - Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
Y2 - 18 May 2018 through 20 May 2018
ER -