A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is ado...A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is adopted to describe the localization problem. Under an unknown-but-bounded assumption for sensor noise,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs. Merged these constraints,a convex polyhedron representing the set of all configurations consistent with the sensor measurements can be induced. Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more AUVs can then be obtained by projecting this polyhedron into appropriate subspaces of the configuration space. The localization uncertain region for each AUV can be recovered by an approximation algorithm to realize underwater localization for multiple AUVs. The deduced theoretically and the simulated results show that it is an economical and practical localization method for the AUV swarm.展开更多
The task assignment of multi-agent system has attracted considerable attention;however,the contradiction between computational complexity and assigning performance remains to be resolved.In this paper,a novel consensu...The task assignment of multi-agent system has attracted considerable attention;however,the contradiction between computational complexity and assigning performance remains to be resolved.In this paper,a novel consensus-based adaptive optimization auction(CAOA)algorithm is proposed to greatly reduce the computation load while attaining enhanced system payoff.A new optimization scheme is designed to optimize the critical control parameter in the price update role of auction algorithm which can reduce the searching complexity in obtaining a better bidding price.With this new scheme,the CAOA algorithm is designed.Then the developed algorithm is applied to the multi-AUV task assignment problem for underwater detection mission in complex environments.The simulation and comparison studies verify the effectiveness and advantage of the CAOA algorithm.展开更多
基金Sponsored by National Natural Foundation (50979093)High Technology Research and Development Program of China (2007AA809502C)Program for New Century Excellent Talents in University (NCET-06-0877)
文摘A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is adopted to describe the localization problem. Under an unknown-but-bounded assumption for sensor noise,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs. Merged these constraints,a convex polyhedron representing the set of all configurations consistent with the sensor measurements can be induced. Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more AUVs can then be obtained by projecting this polyhedron into appropriate subspaces of the configuration space. The localization uncertain region for each AUV can be recovered by an approximation algorithm to realize underwater localization for multiple AUVs. The deduced theoretically and the simulated results show that it is an economical and practical localization method for the AUV swarm.
基金supported by the National Natural Science Foundation of China(Grant Nos.62273281,U22B2039,and 61922068)。
文摘The task assignment of multi-agent system has attracted considerable attention;however,the contradiction between computational complexity and assigning performance remains to be resolved.In this paper,a novel consensus-based adaptive optimization auction(CAOA)algorithm is proposed to greatly reduce the computation load while attaining enhanced system payoff.A new optimization scheme is designed to optimize the critical control parameter in the price update role of auction algorithm which can reduce the searching complexity in obtaining a better bidding price.With this new scheme,the CAOA algorithm is designed.Then the developed algorithm is applied to the multi-AUV task assignment problem for underwater detection mission in complex environments.The simulation and comparison studies verify the effectiveness and advantage of the CAOA algorithm.
