Distributed Traversability Analysis of Flow Field Under Communication Constraints

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	Distributed Traversability Analysis of Flow Field Under Communication Constraints
	Zhang AQ(张艾群)3 ; Yu JC(俞建成)3 ; Sun J(孙洁)2,3 ; Liu SJ(刘世杰)2,3 ; Zhang FM(张福民)1
刊名	IEEE Journal of Oceanic Engineering
	2019
卷号	44 期号:3 页码:683-692
关键词	communication constraints marine robotics path planning traversability analysis
ISSN号	0364-9059
产权排序	1
英文摘要	Traversability analysis, previously developed for ground robots, is extended to be performed by a group of marine vehicles over ocean flow fields. To enable distributed path planning against flow, a systematic method is developed to determine a flow map that is significant for sharing among vehicles. Using traversability analysis, each vehicle finds a set of support vectors to approximate the boundary of flow regions with strong average flow speed. These support vectors, together with the parameters determined by the traversability analysis, are then shared over the communication links. The shared information is used by each vehicle to construct a flow map that supports path planning algorithms running on each vehicle. Underwater communication limits the amount of information contained in a map that can be shared among vehicles. A novel method for information reduction is developed so that only reduced flow maps are shared. The length of the data packets can be adjusted through an optimization process that balance between the fidelity of the approximated boundary and the number of bits that need to be transmitted. Simulation results demonstrate that the flow maps constructed from the shared information can have sufficient quality to allow near-optimal paths to be generated.
资助项目	National Natural Science Foundation of China[61233013] ; National Natural Science Foundation of China[61673370] ; National Natural Science Foundation of China[41376110] ; State Key Laboratory of Robotics at the Shenyang Institute of Automation[2014-Z02]
WOS关键词	AUTONOMOUS UNDERWATER VEHICLES ; MOTION
WOS研究方向	Engineering ; Oceanography
语种	英语
WOS记录号	WOS:000476752900013
资助机构	National Natural Science Foundation of China ; State Key Laboratory of Robotics at the Shenyang Institute of Automation
内容类型	期刊论文
源URL	[http://119.78.100.139/handle/173321/21844]
专题	海洋机器人卓越创新中心
通讯作者	Zhang FM(张福民)
作者单位	1.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta,GA 30332 USA 2.University of Chinese Academy of Sciences, Beijing 100049, China; 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China;
推荐引用方式 GB/T 7714	Zhang AQ,Yu JC,Sun J,et al. Distributed Traversability Analysis of Flow Field Under Communication Constraints[J]. IEEE Journal of Oceanic Engineering,2019,44(3):683-692.
APA	Zhang AQ,Yu JC,Sun J,Liu SJ,&Zhang FM.(2019).Distributed Traversability Analysis of Flow Field Under Communication Constraints.IEEE Journal of Oceanic Engineering,44(3),683-692.
MLA	Zhang AQ,et al."Distributed Traversability Analysis of Flow Field Under Communication Constraints".IEEE Journal of Oceanic Engineering 44.3(2019):683-692.