期刊
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
卷 17, 期 2, 页码 732-745出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2020.3004343
关键词
Sea surface; Dynamics; Vehicle dynamics; Uncertainty; Kinetic theory; Autonomous surface vehicles (ASVs); coordinated control; formation control
类别
资金
- Research Grants Council of the Hong Kong Special Administrative Region of China [11202318, 11208517]
- International Partnership Program of Chinese Academy of Sciences [GJHZ1849]
- National Natural Science Foundation of China [61673081, 51979020, 61673330, 51939001]
- Science and Technology Fund for Distinguished Young Scholars of Dalian [2018RJ08]
- Fundamental Research Funds for the Central Universities [3132019319, 3132020101]
- Stable Supporting Fund of Science and Technology on Underwater Vehicle Technology [JCKYS2019604SXJQR-01]
- Supporting Program for High-level Talent in Ministry of Transport of the People's Republic of China [2018-030]
Autonomous surface vehicles (ASVs) are marine vessels capable of operating without a crew in various water/ocean environments, and coordinating multiple ASVs for complex missions offers enhanced capability and efficacy. Challenges in coordinated control of ASVs include their diversity, intravehicle interactions, collision avoidance requirements, and limited communication bandwidth in sea environments.
Autonomous surface vehicles (ASVs) are marine vessels capable of performing various marine operations without a crew in a variety of cluttered and hostile water/ocean environments. For complex missions, there are increasing needs for deploying a fleet of ASVs instead of a single one to complete difficult tasks. Cooperative operations with a fleet of ASVs offer great advantages with enhanced capability and efficacy. Despite various application potentials, coordinated motion control of ASVs pose great challenges due to the multiplicity of ASVs, complexity of intravehicle interactions and fleet formation with collision avoidance requirements, and scarcity of communication bandwidths in sea environments. Coordinated control of multiple ASVs has received considerable attention in the last decade. This article provides an overview of recent advances in coordinated control of multiple ASVs. First, some challenging issues and scenarios in motion control of ASVs are presented. Next, coordinated control architecture and methods of multiple ASVs are briefly discussed. Then, recent results on trajectory-guided, path-guided, and target-guided coordinated control of multiple ASVs are reviewed in detail. Finally, several theoretical and technical issues are suggested to direct future investigations including network-based coordination, event-triggered coordination, collision-free coordination, optimization-based coordination, data-driven coordination of ASVs, and task-region-oriented coordination of multiple ASVs and autonomous underwater vehicles.
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