Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment
In this paper, target hunting aims to detect target and surround the detected target in a surface-water using Multiple Autonomous Underwater Vehicles (multi-AUV) in a given area. The main challenge in multi-AUV target hunting is the design of AUV’s motion path and coordination mechanism. T...
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-06-01
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| Series: | Applied Sciences |
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| Online Access: | http://www.mdpi.com/2076-3417/8/6/973 |
| _version_ | 1818282269807214592 |
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| author | Hengqing Ge Guibin Chen Guang Xu |
| author_facet | Hengqing Ge Guibin Chen Guang Xu |
| author_sort | Hengqing Ge |
| collection | DOAJ |
| description | In this paper, target hunting aims to detect target and surround the detected target in a surface-water using Multiple Autonomous Underwater Vehicles (multi-AUV) in a given area. The main challenge in multi-AUV target hunting is the design of AUV’s motion path and coordination mechanism. To conduct the cooperative target hunting by multi-AUV in a surface-water environment, an integrated algorithm based on improved potential field (IPF) is proposed. First, a potential field function is established according to the information of the surface-water environment. Then, the dispersion degree, the homodromous degree, and district-difference degree are introduced to increase the cooperation of the multi-AUV system. Finally, the target hunting is solved by embedding the three kinds of degree into the potential field function. The simulation results show that the proposed approach is applicable and feasible for multi-AUV cooperative target hunting. |
| first_indexed | 2024-12-13T00:18:20Z |
| format | Article |
| id | doaj.art-3dbed86222474af8ab6a9c918d106236 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-13T00:18:20Z |
| publishDate | 2018-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-3dbed86222474af8ab6a9c918d1062362022-12-22T00:05:42ZengMDPI AGApplied Sciences2076-34172018-06-018697310.3390/app8060973app8060973Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water EnvironmentHengqing Ge0Guibin Chen1Guang Xu2School of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huaian 223001, ChinaSchool of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huaian 223001, ChinaWestern Australian School of Mines, Curtin University, Kalgoorlie 6430, AustraliaIn this paper, target hunting aims to detect target and surround the detected target in a surface-water using Multiple Autonomous Underwater Vehicles (multi-AUV) in a given area. The main challenge in multi-AUV target hunting is the design of AUV’s motion path and coordination mechanism. To conduct the cooperative target hunting by multi-AUV in a surface-water environment, an integrated algorithm based on improved potential field (IPF) is proposed. First, a potential field function is established according to the information of the surface-water environment. Then, the dispersion degree, the homodromous degree, and district-difference degree are introduced to increase the cooperation of the multi-AUV system. Finally, the target hunting is solved by embedding the three kinds of degree into the potential field function. The simulation results show that the proposed approach is applicable and feasible for multi-AUV cooperative target hunting.http://www.mdpi.com/2076-3417/8/6/973cooperative target huntingmulti-AUVimproved potential fieldsurface-water environment |
| spellingShingle | Hengqing Ge Guibin Chen Guang Xu Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment Applied Sciences cooperative target hunting multi-AUV improved potential field surface-water environment |
| title | Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment |
| title_full | Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment |
| title_fullStr | Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment |
| title_full_unstemmed | Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment |
| title_short | Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment |
| title_sort | multi auv cooperative target hunting based on improved potential field in a surface water environment |
| topic | cooperative target hunting multi-AUV improved potential field surface-water environment |
| url | http://www.mdpi.com/2076-3417/8/6/973 |
| work_keys_str_mv | AT hengqingge multiauvcooperativetargethuntingbasedonimprovedpotentialfieldinasurfacewaterenvironment AT guibinchen multiauvcooperativetargethuntingbasedonimprovedpotentialfieldinasurfacewaterenvironment AT guangxu multiauvcooperativetargethuntingbasedonimprovedpotentialfieldinasurfacewaterenvironment |