Abstract
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.
Recommended Citation
H. Ge et al., "Multi-AUV Cooperative Target Hunting based on Improved Potential Field in a Surface-Water Environment," Applied Sciences, vol. 8, no. 6, article no. 973, MDPI, Jun 2018.
The definitive version is available at https://doi.org/10.3390/app8060973
Department(s)
Mining Engineering
Keywords and Phrases
Cooperative target hunting; Improved potential field; Multi-AUV; Surface-Water environment
International Standard Serial Number (ISSN)
2076-3417
Document Type
Article - Journal
Document Version
Final Version
File Type
text
Language(s)
English
Rights
© 2018 The Author(s), All rights reserved.
Creative Commons Licensing
This work is licensed under a Creative Commons Attribution 4.0 License.
Publication Date
01 Jun 2018
Comments
This work was supported by the University-industry cooperation prospective project of Jiangsu Province: Development of intelligent universal color-selecting and drying grain machine (BY2016062-01).