Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which...Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.展开更多
Pattern Time Delay Shift Coding (PDS) scheme is robust for underwater acoustic communication. The digital information are encoded in the time delay shift values of the Pattern, so the PDS scheme belongs to the Pulse P...Pattern Time Delay Shift Coding (PDS) scheme is robust for underwater acoustic communication. The digital information are encoded in the time delay shift values of the Pattern, so the PDS scheme belongs to the Pulse Position Modulation (PPM). Several Patterns are selected for code division that the communication system could have a high ability to mitigate the inter-symbol interference (ISI) caused by multipath channel. Four communication channels work on the same time divided by different frequency, which lead to 1000bits/s of the data rate of communication. The simulation experiments show that the PDS system could adapt to many underwater acoustic channels for high data rate and high reliability.展开更多
基金Project(NS2013091)supported by the Basis Research Fund of Nanjing University of Aeronautics and Astronautics,China
文摘Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.
文摘Pattern Time Delay Shift Coding (PDS) scheme is robust for underwater acoustic communication. The digital information are encoded in the time delay shift values of the Pattern, so the PDS scheme belongs to the Pulse Position Modulation (PPM). Several Patterns are selected for code division that the communication system could have a high ability to mitigate the inter-symbol interference (ISI) caused by multipath channel. Four communication channels work on the same time divided by different frequency, which lead to 1000bits/s of the data rate of communication. The simulation experiments show that the PDS system could adapt to many underwater acoustic channels for high data rate and high reliability.
