A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition Mechanism
Static area coverage of the heterogeneous autonomous underwater vehicle (AUV) group is widely used in many fields. With the use of the centroidal Voronoi tessellation (CVT) algorithm, the coverage problem can be resolved. However, the CVT method, which is optimized with the location evaluation funct...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-04-01
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| Series: | Frontiers in Bioengineering and Biotechnology |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2022.845161/full |
| _version_ | 1818024084278083584 |
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| author | Xuan Guo Yuepeng Chen Dongming Zhao Guangyu Luo |
| author_facet | Xuan Guo Yuepeng Chen Dongming Zhao Guangyu Luo |
| author_sort | Xuan Guo |
| collection | DOAJ |
| description | Static area coverage of the heterogeneous autonomous underwater vehicle (AUV) group is widely used in many fields. With the use of the centroidal Voronoi tessellation (CVT) algorithm, the coverage problem can be resolved. However, the CVT method, which is optimized with the location evaluation function, cannot consider the heterogeneity of AUVs when the group performs the static area coverage task and will cause a waste of resources. In this paper, considering different AUVs’ task requirements and detection capabilities comprehensively, we propose a coverage control optimization algorithm based on a biological competition mechanism (BCM). By using BCM, the task load of each AUV can be distributed consistently. In addition, we provide strict proof of the consistency of the algorithm based on the Lyapunov method. Simulation results demonstrate that with the proposed algorithm, the location distribution of the heterogeneous AUV group for area coverage is close to the balanced value, and the performance is better than the CVT algorithm for static area coverage. |
| first_indexed | 2024-12-10T03:54:35Z |
| format | Article |
| id | doaj.art-7de6a766cdb54766815df21093099117 |
| institution | Directory Open Access Journal |
| issn | 2296-4185 |
| language | English |
| last_indexed | 2024-12-10T03:54:35Z |
| publishDate | 2022-04-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj.art-7de6a766cdb54766815df210930991172022-12-22T02:03:10ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852022-04-011010.3389/fbioe.2022.845161845161A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition MechanismXuan GuoYuepeng ChenDongming ZhaoGuangyu LuoStatic area coverage of the heterogeneous autonomous underwater vehicle (AUV) group is widely used in many fields. With the use of the centroidal Voronoi tessellation (CVT) algorithm, the coverage problem can be resolved. However, the CVT method, which is optimized with the location evaluation function, cannot consider the heterogeneity of AUVs when the group performs the static area coverage task and will cause a waste of resources. In this paper, considering different AUVs’ task requirements and detection capabilities comprehensively, we propose a coverage control optimization algorithm based on a biological competition mechanism (BCM). By using BCM, the task load of each AUV can be distributed consistently. In addition, we provide strict proof of the consistency of the algorithm based on the Lyapunov method. Simulation results demonstrate that with the proposed algorithm, the location distribution of the heterogeneous AUV group for area coverage is close to the balanced value, and the performance is better than the CVT algorithm for static area coverage.https://www.frontiersin.org/articles/10.3389/fbioe.2022.845161/fullVoronoi diagrambiological competition mechanismload balancingheterogeneous autonomous underwater vehicle groupcentroidal Voronoi tessellation algorithm |
| spellingShingle | Xuan Guo Yuepeng Chen Dongming Zhao Guangyu Luo A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition Mechanism Frontiers in Bioengineering and Biotechnology Voronoi diagram biological competition mechanism load balancing heterogeneous autonomous underwater vehicle group centroidal Voronoi tessellation algorithm |
| title | A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition Mechanism |
| title_full | A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition Mechanism |
| title_fullStr | A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition Mechanism |
| title_full_unstemmed | A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition Mechanism |
| title_short | A Static Area Coverage Algorithm for Heterogeneous AUV Group Based on Biological Competition Mechanism |
| title_sort | static area coverage algorithm for heterogeneous auv group based on biological competition mechanism |
| topic | Voronoi diagram biological competition mechanism load balancing heterogeneous autonomous underwater vehicle group centroidal Voronoi tessellation algorithm |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2022.845161/full |
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