Formation control is essential for an underwater mobile sensing network(UMSN) ,and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications,to fulfi...Formation control is essential for an underwater mobile sensing network(UMSN) ,and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications,to fulfill mobile sensing tasks.The problem of formation control for a UMSN with varying topology is studied in this paper.The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.展开更多
Comprised by a swarm of acoustically linked and cooperative autonomous underwater vehicles(AUVs) with onboard sensors,an underwater mobile sensing network(UMSN) will be a complementary means to fixed observatory netwo...Comprised by a swarm of acoustically linked and cooperative autonomous underwater vehicles(AUVs) with onboard sensors,an underwater mobile sensing network(UMSN) will be a complementary means to fixed observatory networks,e.g.seafloor observatory networks and moored buoy arrays.It has obvious advantages over a single large AUV in higher efficiency due to parallel observation,stronger robustness to vehicle failures and lower cost.Although an UMSN can be viewed as a counterpart of wireless mobile sensing networks for air and terrestrial applications,it is much more challenging due to poor performance of underwater acoustic communication, poor performance of underwater positioning and high degree of uncertainty in vehicle dynamics and underwater environment.In order to verify key technologies involved in an UMSN,e.g.cooperation of multi-AUVs based on acoustic communication,a low cost testbed has been developed for experimental study.The design of both hardware and software is introduced.Also the results of a functional test for verification of the effectiveness of the testbed are presented.展开更多
基金the National High Technology Research and Development Program (863) of China (No.2006AA09Z233)
文摘Formation control is essential for an underwater mobile sensing network(UMSN) ,and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications,to fulfill mobile sensing tasks.The problem of formation control for a UMSN with varying topology is studied in this paper.The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.
基金the National High Technology Research and Development Program(863) of China (No.2006AA09Z233)
文摘Comprised by a swarm of acoustically linked and cooperative autonomous underwater vehicles(AUVs) with onboard sensors,an underwater mobile sensing network(UMSN) will be a complementary means to fixed observatory networks,e.g.seafloor observatory networks and moored buoy arrays.It has obvious advantages over a single large AUV in higher efficiency due to parallel observation,stronger robustness to vehicle failures and lower cost.Although an UMSN can be viewed as a counterpart of wireless mobile sensing networks for air and terrestrial applications,it is much more challenging due to poor performance of underwater acoustic communication, poor performance of underwater positioning and high degree of uncertainty in vehicle dynamics and underwater environment.In order to verify key technologies involved in an UMSN,e.g.cooperation of multi-AUVs based on acoustic communication,a low cost testbed has been developed for experimental study.The design of both hardware and software is introduced.Also the results of a functional test for verification of the effectiveness of the testbed are presented.
