Next Article in Journal
Operational Improvement of AlGaN/GaN High Electron Mobility Transistor by an Inner Field-Plate Structure
Next Article in Special Issue
Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme
Previous Article in Journal
Optimization of Split Transmitter-Receiver Digital Nonlinearity Compensation in Bi-Directional Raman Unrepeatered System
Previous Article in Special Issue
Exploration of Swarm Dynamics Emerging from Asymmetry
Article Menu
Issue 6 (June) cover image

Export Article

Open AccessArticle
Appl. Sci. 2018, 8(6), 973; https://doi.org/10.3390/app8060973

Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment

1
School of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huaian 223001, China
2
Western Australian School of Mines, Curtin University, Kalgoorlie 6430, Australia
*
Author to whom correspondence should be addressed.
Received: 7 May 2018 / Revised: 28 May 2018 / Accepted: 31 May 2018 / Published: 14 June 2018
(This article belongs to the Special Issue Swarm Robotics)
Full-Text   |   PDF [3533 KB, uploaded 14 June 2018]   |  

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. View Full-Text
Keywords: cooperative target hunting; multi-AUV; improved potential field; surface-water environment cooperative target hunting; multi-AUV; improved potential field; surface-water environment
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

Ge, H.; Chen, G.; Xu, G. Multi-AUV Cooperative Target Hunting Based on Improved Potential Field in a Surface-Water Environment. Appl. Sci. 2018, 8, 973.

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]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top