Next Article in Journal
A Portable, Wireless Photoplethysomography Sensor for Assessing Health of Arteriovenous Fistula Using Class-Weighted Support Vector Machine
Next Article in Special Issue
Challenges, Threats, Security Issues and New Trends of Underwater Wireless Sensor Networks
Previous Article in Journal
Data Fusion Using Improved Support Degree Function in Aquaculture Wireless Sensor Networks
Previous Article in Special Issue
A Rule-Based Reasoner for Underwater Robots Using OWL and SWRL
Article Menu

Export Article

Open AccessArticle
Sensors 2018, 18(11), 3853; https://doi.org/10.3390/s18113853

An Adaptive Prediction Target Search Algorithm for Multi-AUVs in an Unknown 3D Environment

1
Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China
2
College of Automation, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Received: 10 October 2018 / Revised: 31 October 2018 / Accepted: 6 November 2018 / Published: 9 November 2018
(This article belongs to the Special Issue Underwater Sensor Networks: Applications, Advances and Challenges)
Full-Text   |   PDF [3804 KB, uploaded 9 November 2018]   |  

Abstract

For a target search of autonomous underwater vehicles (AUVs) in a completely unknown three-dimensional (3D) underwater environment, a multi-AUV collaborative target search algorithm based on adaptive prediction is proposed in this paper. The environmental information sensed by the forward-looking sonar is used to judge the current state of view, and the AUV system uses this environmental information to perform the target search task. If there is no target in the field of view, the AUV system will judge whether all sub-regions of the current layer have been searched or not. The next sub-region for searching is determined by the evaluation function and the task assignment strategy. If there are targets in the field of view, the evaluation function and the estimation function of the adaptive predictive optimization algorithm is used to estimate the location of the unknown target. At the same time, the algorithm also can reduce the positioning error caused by the noise of the sonar sensor. In this paper, the simulation results show that the proposed algorithm can not only deal with static targets and random dynamic interference target search tasks, but it can also perform target search tasks under some random AUV failure conditions. In this process, the underwater communication limits are also considered. Finally, simulation experiments indicate the high efficiency and great adaptability of the proposed algorithm. View Full-Text
Keywords: multiple AUVs; cooperation; adaptive prediction; target search multiple AUVs; cooperation; adaptive prediction; target search
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Li, J.; Zhang, J.; Zhang, G.; Zhang, B. An Adaptive Prediction Target Search Algorithm for Multi-AUVs in an Unknown 3D Environment. Sensors 2018, 18, 3853.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top