Two Methods of Multi-UUVs Formation Control Under Acoustic Communication Uncertainty

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Two Methods of Multi-UUVs Formation Control Under Acoustic Communication Uncertainty

Qiu, Shaoxiong / Li, Ruifeng / Zhang, Haopeng / Xu, Hongli

Formation control is a challenging issue for multi-UUVs because of the uncertainty of acoustic communication in the ocean, such as communication delay and packet loss. For this reason, we designed two distributed computing methods to solve the problem of cooperative formation with high communication delay and low packet delivery ratio. The first method is to design a state estimator to get the states of neighbor nodes in real time, which is used for controlling formation of multi-UUVs based on consensus algorithm. The second method is to build a simulator for each UUV to simulate the trajectory tracking of neighbor nodes based on model predictive control (MPC) algorithm. In this work, we conducted simulation experiment based on the multi-UUVs simulation platform to verified the effectiveness of the two methods, comparing their advantages and disadvantages.

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Dokumentinformationen

Titel :

Two Methods of Multi-UUVs Formation Control Under Acoustic Communication Uncertainty

Weitere Titelangaben:

Lect. Notes Electrical Eng.

Beteiligte:

Wu, Meiping (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Cheng, Jin (Herausgeber:in) / Qiu, Shaoxiong (Autor:in) / Li, Ruifeng (Autor:in) / Zhang, Haopeng (Autor:in) / Xu, Hongli (Autor:in)

Kongress:

International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021

Erschienen in:

Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 167 ; 1696-1706

Lecture Notes in Electrical Engineering ; 861

Erscheinungsdatum :

2022-03-18

Format / Umfang :

11 pages

ISBN :

978-981-16-9492-9 , 978-981-16-9491-2

ISSN :