针对传统水声定位系统对水下无人系统(Unmanned Underwater Vehicles,UUV)集群定位时存在的半双工以及更新频率低等问题,提出一种单浮标辅助定位组合导航系统。不同于传统的超短基线定位系统(Ultra-Short Base Line,以下简称为USBL)定位...针对传统水声定位系统对水下无人系统(Unmanned Underwater Vehicles,UUV)集群定位时存在的半双工以及更新频率低等问题,提出一种单浮标辅助定位组合导航系统。不同于传统的超短基线定位系统(Ultra-Short Base Line,以下简称为USBL)定位,本文系统利用无源单向水声定位方式,单浮标周期性广播声脉冲信号,UUV根据其水听器阵列接收声脉冲时间差以及相位差解算自身位置信息。由于广播范围内的所有UUV可同步定位,因此该定位方法不受集群成员数量限制,具有良好的可拓展性。此外由于基于单声程信号定位且不对外发射声波,该定位方法还具有位置更新率高、隐蔽性好和能耗低等优点,为UUV集群水下导航定位领域带来了新的解决方案。展开更多
Formation control remains a critical challenge in cooperative multi-agent systems,particularly for Unmanned Underwater Vehicles(UUVs).Conventional approaches often suffer from several limitations,including reliance on...Formation control remains a critical challenge in cooperative multi-agent systems,particularly for Unmanned Underwater Vehicles(UUVs).Conventional approaches often suffer from several limitations,including reliance on global information,limited adaptability,high computational complexity,and poor scalability.To address these issues,we propose a novel bio-inspired formation control method for UUV swarms,drawing inspiration from the self-organizing behavior of fish schools.Our method integrates three key components:(1)a coordinated motion strategy without predefined targets that enables individual UUVs to align their movements via simple left or right rotations based solely on local neighbor interactions;(2)a target-directed movement strategy that guides UUVs toward specified regions;and(3)a dispersion control strategy that prevents overcrowding by regulating local spatial distributions.Simulation results confirm that the method achieves robust formation control and efficient area coverage using only local perception.Validation in a 9-UUV simulation environment demonstrates the approach’s flexibility,decentralization,and computational efficiency,making it particularly suitable for large-scale swarms with limited sensing and processing capabilities.展开更多
Dear Editor,This letter is concerned with a coordinated path following control method for multiple unmanned underwater vehicles(UUVs)to carry out maritime search and rescue(MSR)missions.The kinetic model parameters of...Dear Editor,This letter is concerned with a coordinated path following control method for multiple unmanned underwater vehicles(UUVs)to carry out maritime search and rescue(MSR)missions.The kinetic model parameters of each UUV is totally unknown.Firstly,a kinematic control law is constructed by designing a vertical line-of-sight(LOS)guidance scheme.展开更多
文摘针对传统水声定位系统对水下无人系统(Unmanned Underwater Vehicles,UUV)集群定位时存在的半双工以及更新频率低等问题,提出一种单浮标辅助定位组合导航系统。不同于传统的超短基线定位系统(Ultra-Short Base Line,以下简称为USBL)定位,本文系统利用无源单向水声定位方式,单浮标周期性广播声脉冲信号,UUV根据其水听器阵列接收声脉冲时间差以及相位差解算自身位置信息。由于广播范围内的所有UUV可同步定位,因此该定位方法不受集群成员数量限制,具有良好的可拓展性。此外由于基于单声程信号定位且不对外发射声波,该定位方法还具有位置更新率高、隐蔽性好和能耗低等优点,为UUV集群水下导航定位领域带来了新的解决方案。
基金supported by The Special Fund for Basic Scientific Research for Liaoning Provincial Governed Universities(2024JBZDZ004)Fishery Central Financial Support Project of Liaoning Province(2023)+5 种基金Liaoning Province Key Research and Development Plan(2023JH26/10200015)Natural Science Foundation of Liaoning Province(2020-KF-12-09)The Liaoning Provincial Education Commission Fund(LJKZ0730,QL202016)Applied Basic Research Project of Science and Technology Commission of Liaoning Province(2022JH2/101300187)Open Fund of Key Laboratory of Environmental Control Aquaculture of Ministry of Education(Dalian Ocean University)(202219)Liaoning Province Science and Technology Plan Joint Program(2024JH2/102600083).
文摘Formation control remains a critical challenge in cooperative multi-agent systems,particularly for Unmanned Underwater Vehicles(UUVs).Conventional approaches often suffer from several limitations,including reliance on global information,limited adaptability,high computational complexity,and poor scalability.To address these issues,we propose a novel bio-inspired formation control method for UUV swarms,drawing inspiration from the self-organizing behavior of fish schools.Our method integrates three key components:(1)a coordinated motion strategy without predefined targets that enables individual UUVs to align their movements via simple left or right rotations based solely on local neighbor interactions;(2)a target-directed movement strategy that guides UUVs toward specified regions;and(3)a dispersion control strategy that prevents overcrowding by regulating local spatial distributions.Simulation results confirm that the method achieves robust formation control and efficient area coverage using only local perception.Validation in a 9-UUV simulation environment demonstrates the approach’s flexibility,decentralization,and computational efficiency,making it particularly suitable for large-scale swarms with limited sensing and processing capabilities.
基金supported by the National Science and Technology Major Project(2022ZD0119902)the Doctoral Scientific Research Foundation of Liaoning Province(2023-BS-077)+2 种基金the Postdoctoral Research Foundation of China(2024M751980)the Open Project of State Key Laboratory of Maritime Technology and Safety(SKLMTA-DMU2024Y3)Bolian Research Funds of Dalian Maritime University/Fundamental Research Funds for the Central Universities(3132023616).
文摘Dear Editor,This letter is concerned with a coordinated path following control method for multiple unmanned underwater vehicles(UUVs)to carry out maritime search and rescue(MSR)missions.The kinetic model parameters of each UUV is totally unknown.Firstly,a kinematic control law is constructed by designing a vertical line-of-sight(LOS)guidance scheme.
