scholarly journals Role-based collaborative task planning of heterogeneous multi-autonomous underwater vehicles

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985853
Author(s):  
Lanyong Zhang ◽  
Lei Zhang ◽  
Sheng Liu
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Task Planning ◽  
Well Performance ◽  
Dynamic Adjustment ◽  
Underwater Communications ◽  
Collaborative Task ◽  
Cooperative Relationships ◽  
Role Based ◽  
Cooperative Relationship

The multi-autonomous underwater vehicles (Multi-AUVs) cluster is an important means to solve the marine tasks effectively. The heterogeneous Multi-AUVs are constrained by cooperative relationship, and a model of multi-autonomous underwater vehicles role-based collaborative task planning is proposed. The Multi-AUVs are set to different roles depending on the functional properties. To analyze the accountability of each role, and to ensure the reliability, the desired behavior and the estimate state of each role are described in the model. Task allocation needs to be implemented dynamically in path planning, for the existing of the cooperative relationships and the demand of tasks changes. Role-based task assessment and allocation methods are proposed to achieve dynamic adjustment of roles according to task requirements. Due to poor underwater communication conditions, the implicit coordination framework is implied to the coordinate information interaction to compensate the large delays in underwater communications and the reliance between Multi-AUVs. To adapt to the implicit collaborative framework and poor communication conditions, a variable communication radius (contract network) is proposed. The simulation result shows that the proposed method has well performance.

scholarly journals The Method for Estimating the Maximum Velocity of the AUV Motion with Trajectories Re-Planning According to their Dynamic Properties

2021 ◽  
Vol 2096 (1) ◽  
pp. 012148
Author(s):  
D A Yukhimets ◽  
S V Karmanova
Keyword(s):  
Environmental Monitoring ◽  
Dynamic Properties ◽  
Autonomous Underwater Vehicles ◽  
Maximum Velocity ◽  
Underwater Vehicles ◽  
Velocity Estimation ◽  
Dynamics Model ◽  
Underwater Communications ◽  
Motion Trajectories ◽  
Simulation Results

Abstract The paper considers the problem of adjusting the value of a predetermined velocity required for horizontal motion of autonomous underwater vehicles (AUVs) in an environment containing obstacles, when trajectories change in order to avoid obstacles. Therewith, the velocity estimation generated during the re-planning of the AUVs motion trajectories is the maximum possible and is carried out on the basis of the AUVs dynamics model, considering their dynamic limitations and changes in the parameters of the motion trajectories. The topicality of the task is determined by the need to improve the efficiency of underwater missions in various areas of human activity (environmental monitoring, laying and maintenance of underwater communications, etc.). It depends on the mode of the AUVs motion: their velocity and parameters of the trajectories. The simulation results confirm the efficiency of the proposed method for estimating the maximum possible velocity of the AUVs motion.

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

scholarly journals Autonomous Underwater Vehicles and Field of View in Underwater Operations

2021 ◽  
Vol 9 (3) ◽  
pp. 277
Author(s):  
Isaac Segovia Ramírez ◽  
Pedro José Bernalte Sánchez ◽  
Mayorkinos Papaelias ◽  
Fausto Pedro García Márquez
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Field Of View ◽  
Guidance System ◽  
Control Algorithms ◽  
Deep Waters ◽  
Underwater Cameras ◽  
Optimal Resolution ◽  
Acquisition Processes ◽  
And Control

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

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