相关参考文献
注意：仅列出部分参考文献，下载原文获取全部文献信息。
Review
Computer Science, Artificial Intelligence
Dong An et al.
Summary: Underwater vehicles play important roles in marine resource exploration and civil-military fields. Path planning is crucial in underwater vehicle control. Graph searching-type algorithms, sampling-based algorithms, and potential field-based algorithms are widely used, but traditional methods have poor adaptability in dynamic unstructured environments. This work introduces intelligent path planning technologies in detail and summarizes collaborative and coverage path planning for underwater vehicles, while providing prospects for the future development direction of underwater vehicle path planning.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2023)
Article
Engineering, Marine
Faheem Ahmed et al.
Summary: An accurately predicted dynamic model is required to design a robust control system for an autonomous underwater vehicle (AUV) maneuvering in six degrees of freedom. Traditional methods such as analytical and semi-empirical methods, computational fluid dynamics, and experimental testing can estimate the hydrodynamic derivatives. Recently, machine learning algorithms and artificial intelligence have been applied to predict the coefficients with higher accuracy and lower computational cost. The article thoroughly surveys the evolution and application of these techniques for marine vehicles and evaluates their effectiveness for autonomous underwater vehicles.
Article
Engineering, Marine
Xue Du et al.
Summary: This paper introduces an adaptive interactive multi-model algorithm for the navigation system of the unmanned underwater vehicle (UUV). The algorithm aims to improve the robustness and accuracy of UUV navigation by seamlessly switching between different models based on the environmental conditions. The simulation results show that the algorithm effectively controls the impact of system noise model uncertainty and improves navigation accuracy.
Article
Engineering, Electrical & Electronic
Liang Chu et al.
Summary: This paper proposes a longitudinal control algorithm based on RBF-PID, which uses RBFNN to identify the Jacobian information of the vehicle and perform parameter tuning for PID control, achieving vehicle longitudinal control with self-tuning capability.
WORLD ELECTRIC VEHICLE JOURNAL
(2023)
Article
Robotics
Simon Siregar et al.
Summary: The main aim of this study was to develop a hybrid autonomous underwater glider (HAUG) with a torpedo shape, measuring 230 cm in length and 24 cm in diameter. The control, navigation, and guidance systems were operated simultaneously using a Udoo X86 minicomputer as the main server and three BeagleBone Black single-board computers as the clients. The simulations demonstrated a controlled horizontal speed of 0.5 m/s in AUV mode and 0.39 to 0.51 m/s in glide mode, with a pitch angle ranging between 14.13 degrees and 26.89 degrees. Field experiments confirmed the HAUG's comparable performance, achieving a horizontal speed of 1 m/s in AUV mode and approximately 0.2 m/s in glide mode. Moreover, the HAUG boasted an energy consumption of 51.63 watts/h, enabling it to complete a mission lasting 44.74 h assuming three gliding cycles per hour. The HAUG was designed to withstand water pressure up to 200 m and fulfill tasks such as search and rescue, mapping, surveillance, monitoring, and maintenance.
Article
Automation & Control Systems
Jitao Li et al.
Summary: This letter addresses the problem of interval velocity estimation for unmanned underwater vehicles subject to multiple model uncertainties. An adaptive mechanism is introduced to handle large initial bounds on uncertainties. The H-infinity approach is utilized in the design of an interval observer to minimize the impact of uncertainties. Linear matrix inequalities are formulated as sufficient design conditions. Simulation results demonstrate the effectiveness of the proposed method.
IEEE CONTROL SYSTEMS LETTERS
(2023)
Article
Engineering, Ocean
Peng Yao et al.
Summary: We propose two schemes to solve the problems of visual perception delay and limited obstacle avoidance capability in the autonomous navigation of unmanned underwater vehicles (UUV). In the aspect of visual perception, a compressed algorithm based on the UNDERWATER-CUT model for underwater image enhancement and a two-stage compressed YOLOv5s model for object detection are presented. The 2D coordinates of the obstacles acquired by the visual perception algorithms and the depth values by the depth camera are merged into real-time navigation information. For obstacle avoidance, the adapted modified guidance vector field (AMGVF) is proposed. The experimental results demonstrate the effectiveness of the proposed methods in complex underwater environments.
APPLIED OCEAN RESEARCH
(2023)
Article
Computer Science, Artificial Intelligence
Lei Lei et al.
Information Fusion
(2023)
Article
Computer Science, Artificial Intelligence
Levi Cai et al.
Summary: In-situ visual observations are essential for understanding the behavior of marine organisms and their interaction with the ecosystem. Traditional methods involve divers, tags, and remotely-operated vehicles, but autonomous underwater vehicles with cameras and embedded computers are being developed to supplement these methods. This paper introduces a new dataset, evaluates semi-supervised algorithms for underwater animal tracking, and demonstrates the real-world performance of a semi-supervised algorithm on an autonomous underwater vehicle.
INTERNATIONAL JOURNAL OF COMPUTER VISION
(2023)
Article
Engineering, Electrical & Electronic
Zafer Bingul et al.
Summary: This paper investigates the model-free trajectory tracking control problem for an autonomous underwater vehicle (AUV) subject to the ocean currents, external disturbances, measurement noise, model parameter uncertainty, initial tracking errors, and thruster malfunction. A novel control architecture based on model-free control principles is presented to guarantee stable and precise trajectory tracking performance in the complex underwater environment for AUVs. Simulation results show that the i-PID with PD feedforward controller provides effective trajectory tracking control performance and excellent disturbance rejections for the entire trajectory of the AUV.
Article
Engineering, Marine
Wei Zhang et al.
Summary: In this paper, a novel Three-Dimensional trajectory tracking method for an Underwater Unmanned Vehicle (UUV) with external disturbances is proposed using Event-triggered Nonlinear Model Predictive Control (ENMPC). The 5-Degrees of Freedom (5-DoF) model of UUV is represented using both kinematics and dynamics. A Nonlinear Model Predictive Control (NMPC) algorithm is designed for 3-D trajectory tracking, and the feasibility and stability of the control method and closed-loop system are proved. The simulation results demonstrate the effectiveness of the proposed algorithm, showing that ENMPC strategy can effectively reduce computation iterations and improve tracking efficiency compared to Traditional Model Predictive Control (TMPC) and NMPC algorithm.
Article
Chemistry, Analytical
Yiqiang Zhang et al.
Summary: This paper proposes a meta-learning and self-adaptation hybrid approach to enable an underwater robot to adapt to ocean currents. By using a deep neural network (DNN) for high-order hydrodynamic modeling and adjusting linear coefficients dynamically, the method achieves significant improvement in tracking performance.
Article
Engineering, Marine
Jiawei Li et al.
Summary: This paper proposes a novel compound control method for 3D underwater trajectory tracking control of unmanned underwater vehicles (UUVs) in multi-stage prescribed performance switching (MPPS) scenarios. The control framework consists of kinematics control and dynamics control. In the kinematics control loop, a parallel model predictive control (PMPC) law is proposed, which enables switching between soft and hard constraints based on task goals. In the dynamics control loop, a finite-time terminal sliding mode control (FTTSMC) method is proposed to estimate disturbance and achieve fast convergence of velocity tracking errors. Simulation results show significant improvements compared to MPC with sliding mode control (MPC-SMC) and traditional MPC methods.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Yi Chen et al.
Summary: This paper proposes a method for identifying the critical nodes of multi-UUV formations in order to combat them effectively. By reconstructing the network structure and determining the importance of nodes based on network structure entropy, this method accurately constructs the network structure of unknown multi-UUV formations and identifies the key nodes for attack.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Remote Sensing
Shuai Wang et al.
Summary: This article summarizes the research significance and development status of unmanned ground tracked vehicles (UGTVs). By establishing the kinematic state space equation of the vehicle based on the speed and steering principle of UGTVs in plane motion, a trajectory tracking controller for UGTVs is established using model predictive control (MPC). The controller's effectiveness is validated through simulations and the effects of speed and time domain parameters on deviation are analyzed. Additionally, trajectory tracking tests of UGTVs are carried out using satellite positioning technology, and real-time kinematic technology is used to improve the positioning accuracy.
Proceedings Paper
Automation & Control Systems
Piotr Szleg et al.
Summary: Designing and operating Autonomous Underwater Vehicles (AUVs) is a relatively new topic that requires an iterative approach due to the risk of damaging expensive hardware and limited testing infrastructure. This paper explores the benefits of using a simulated environment for software tests, neural network training, and testing AUV performance in different scenarios. A customized framework using Unity3D, a cross-platform game engine, is developed to simulate underwater operations, such as buoyancy and caustics, supporting communication with AUV systems, gathering datasets for offline training, and randomizing the environment for robustness testing.
INTELLIGENT AUTONOMOUS SYSTEMS 17, IAS-17
(2023)
Proceedings Paper
Computer Science, Information Systems
Harsh Vardhan et al.
Summary: Automatic underwater vehicle hull design optimization is a complex engineering process that aims to generate an optimized hull for a UUV. It involves the integration of simulation tools and an optimization framework. By integrating CAD and CFD tools, and using Bayesian optimization, we successfully conducted automatic design optimization for underwater vehicle hulls.
2023 CYBER-PHYSICAL SYSTEMS AND INTERNET-OF-THINGS WEEK, CPS-IOT WEEK WORKSHOPS
(2023)
Article
Automation & Control Systems
Safeer Ullah et al.
Summary: This paper presents a robust global fast terminal attractor-based full flight trajectory tracking control law, which divides the model into two subsystems to address uncertainties. The use of functional link neural networks to estimate nonlinear drift terms and the design of a variable gain robust exact differentiator for estimating flight velocities contribute to improved controller performance.
Review
Engineering, Marine
Fuqiang Liu et al.
Summary: The article discusses the importance of fault diagnosis (FD) technologies for unmanned underwater vehicles (UUVs), highlighting the task, capability, and component layers of FD in relation to specific control structures of UUVs. It also summarizes the worthwhile issues that need to be addressed in future research.
Article
Chemistry, Multidisciplinary
Alexander Konoplin et al.
Summary: This article presents an approach to control the movements of a multilink manipulator mounted on an unmanned underwater vehicle for autonomous manipulative operations. The system uses an upgraded method to accurately determine the shape and location of the work object based on point clouds received from machine vision systems. It includes stabilization of the vehicle, precise control of the manipulator's movements, and trajectory corrections considering the vehicle's displacements. Numerical simulations show the system's high efficiency in sensor information processing and dynamic control.
APPLIED SCIENCES-BASEL
(2022)
Article
Engineering, Multidisciplinary
Min Chen et al.
Summary: The study presents a control structure model based on multi-agents, utilizing their advantages for complex task achievement, showing high adaptability and superior cooperation. The presented technique outperforms the Hierarchical Task Network Planning (HTN) technique by 37-43% in different time slots. Overall, the performance of the technique is superior to existing methods.
INTERNATIONAL JOURNAL OF SYSTEM ASSURANCE ENGINEERING AND MANAGEMENT
(2022)
Article
Engineering, Aerospace
Marco Bibuli et al.
Summary: This article investigates the dynamic models of unmanned underwater vehicles and presents a practical identification strategy for small-size remotely operated vehicles. The study also describes a control system based on the obtained dynamic characterization.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2022)
Article
Engineering, Aerospace
Jonathan Liscouet
Summary: This article introduces an original model-based design methodology to address conflicting performance requirements in high-performance aircraft design, with a case study illustrating the complex design process of fly-by-wire flight control systems. The methodology redefines the involvement of aircraft manufacturers in system design, implementing analysis and iteration capabilities early on to mature system requirements and address conflicts. Through simulation and performance assessment, the methodology validates candidate design concepts and resolves design challenges.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
(2022)
Article
Engineering, Marine
Changchun Hua et al.
Summary: This paper focuses on the trajectory tracking control problem of unmanned underwater vehicles (UUVs) with position-velocity constraints (PVCs) and model uncertainties. A novel adaptive position-velocity constrained tracking controller is designed using a nonlinear transformation function and adaptive neural networks. The effectiveness of the proposed control scheme is validated through simulation and experiment results.
Article
Robotics
Yunlong Song et al.
Summary: A novel framework of policy search for model predictive control is proposed in the study, utilizing policy search to automatically select high-level decision variables for MPC. The formulation of a parameterized controller allows optimizing policies in a self-supervised manner.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Chemistry, Analytical
Yoann Sola et al.
Summary: This study attempts to control an autonomous underwater vehicle (AUV) to perform a waypoint tracking task using a machine learning-based controller. The Soft Actor-Critic (SAC) algorithm is implemented and compared with a Proportional Integral Derivative (PID) controller. The results show that the SAC controller outperforms the PID controller in terms of energy saving and reduces the information required. Furthermore, the implementation of this controller facilitates real-world robot applications.
Article
Remote Sensing
Chia-Nan Wang et al.
Summary: This article analyzes the design of cooperative applications combining unmanned aerial and aquatic vehicles and the advancements in wireless communication technology. It also examines the efficiency of the cybersecurity industry in addressing the growing demand for security features. By using DEA window analysis and the Malmquist index approach, the study evaluates the efficiency of the cybersecurity industry and identifies companies with excellent performances and those needing improvements. This research provides decision-makers with valuable insights.
Article
Engineering, Ocean
A. Kilavuz et al.
Summary: In this study, the flow characteristics of an Unmanned Underwater Vehicle (UUV) with a commonly used Myring profile under the influence of free surface were investigated numerically and experimentally using Computational Fluid Dynamics (CFD) and the Particle Image Velocimetry (PIV) technique. The results showed that the presence of the free-surface effect led to chaotic and irregular motion in the flow characteristics, while the time-averaged properties exhibited a critical immersion ratio. The study also examined different immersion ratios and flow structure variations at different Reynolds numbers.
APPLIED OCEAN RESEARCH
(2022)
Review
Automation & Control Systems
Auwal Shehu Tijjani et al.
Summary: This paper provides a review of the conceptual design and theoretical framework of control schemes for unmanned underwater vehicles (UUVs) proposed in literature. It also includes comparative experimental studies of these control schemes. By implementing key tracking control schemes on Leonard UUV and conducting real-time experiments under different conditions, the efficiency of the selected control schemes is evaluated and compared. The paper also identifies potential research gaps and future trends in the field.
ANNUAL REVIEWS IN CONTROL
(2022)
Article
Mathematics, Interdisciplinary Applications
Boyu Zhu et al.
Summary: This paper proposes a method for designing a UUV depth controller based on fractional calculus, fuzzy control, and a genetic algorithm. Simulation results show that this method can achieve better robustness and dynamic steady-state performance.
FRACTAL AND FRACTIONAL
(2022)
Article
Robotics
Zheping Yan et al.
Summary: The article introduces a practically oriented structure and method for UUV formation control in multi-unmanned underwater vehicle coordination. By utilizing acoustic positioning for local sensing, relative distance and angle information is provided for the follower UUV, reducing the need for extensive communication and successfully designing a formation control structure without follower position information.
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
(2021)
Article
Acoustics
Yu Hao et al.
Summary: An adaptive line enhancer (ALE) with sparse penalty term is proposed for enhancing signal-to-noise ratio (SNR) by suppressing weight noise, utilizing frequency domain processing, and introducing a zero-attraction term to the adaptation. This method demonstrates a significant SNR gain compared to the original ALE, validating its superiority through simulation and experimental data processing.
Article
Engineering, Marine
Demetrious T. Kutzke et al.
Summary: Digital twins are virtual representations of subsystems within a system, used to model and predict performance and degradation. Selecting subsystems for digital twins is challenging, but a generic process has been established to prioritize system components for increasing system reliability. The process focuses on an unmanned underwater vehicle as a case study for multiobjective optimization.
Article
Chemistry, Multidisciplinary
Josue Gonzalez-Garcia et al.
Summary: Various strategies have been explored to tackle the trajectory tracking problem of Unmanned Underwater Vehicles, with most controllers being model-based and requiring accurate knowledge of vehicle parameters. A model-free high-order sliding-mode controller with finite-time convergence was implemented and shown to significantly reduce power consumption of vehicle thrusters, with up to 50% reduction observed in computational results. The performance of the controller was validated through numerical simulations, demonstrating robustness even in the presence of high ocean currents.
APPLIED SCIENCES-BASEL
(2021)
Article
Chemistry, Multidisciplinary
Timothy Sands
Summary: This study introduces deterministic artificial intelligence to control direct current motors and compares its performance with three state-of-the-art nonlinear adaptive control techniques, showing that deterministic artificial intelligence has better tracking error performance.
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Xue Du et al.
Summary: The paper introduces an adaptive wavelet neural network optimized by the Levenberg-Marquardt algorithm, and proposes a novel ADRC control method improved by the wavelet neural network algorithm and Levenberg-Marquardt algorithm for system identification and model compensation. The simulation experiments demonstrate that the ADRC with Levenberg-Marquardt neural network can control the UUV recovery process more stably in variable disturbance environments and reduce the computational burden.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Review
Computer Science, Artificial Intelligence
Behnaz Hadi et al.
Summary: Path planning and formation control are crucial concepts in multi-vehicle systems, especially in AUVs. The cooperative control can lead to desirable outcomes but faces challenges due to nonlinear dynamics and environmental conditions, requiring further exploration. Research and development in this field are essential for successful missions.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2021)
Article
Engineering, Multidisciplinary
Juan Francisco Sánchez-Pérez et al.
Alexandria Engineering Journal
(2021)
Review
Engineering, Marine
Adrian Manzanilla et al.
Summary: This research work focuses on designing a robust control algorithm for the 3D trajectory tracking of a 4DOF Unmanned Underwater Vehicle, which combines integral sliding mode control technique with a super-twisting controller to compensate for disturbances and reduce chattering phenomenon. The proposed controller demonstrates satisfactory performance in simulations and real-time experiments, ensuring convergence to desired references and significant reduction in chattering effect on control inputs.
Proceedings Paper
Engineering, Multidisciplinary
Ghulam Nabi Ahmad Hassan Yar et al.
Summary: Unmanned Underwater Vehicles drive underwater autonomously for exploring the underwater world, with image processing being a crucial aspect; while facing challenges such as turbidity. Our proposed low-cost UUV design simplifies the process and allows for specific tasks to be performed effectively.
PROCEEDINGS OF 2021 INTERNATIONAL BHURBAN CONFERENCE ON APPLIED SCIENCES AND TECHNOLOGIES (IBCAST)
(2021)
Article
Computer Science, Information Systems
Naoki Shirakura et al.
Summary: The study proposes a system for locating and collecting floating marine debris by using unmanned aerial vehicle (UAV) and unmanned underwater vehicle (UUV) together, which can efficiently collect debris in complex topographies, reduce workload, and have practical application.
Article
Engineering, Ocean
Naveen Kumar et al.
APPLIED OCEAN RESEARCH
(2020)
Article
Agricultural Engineering
Stian S. Sandoy et al.
AQUACULTURAL ENGINEERING
(2020)
Article
Energy & Fuels
Pierpaolo Dini et al.
Article
Environmental Sciences
Karolina Zwolak et al.
Article
Environmental Sciences
Elena Buscher et al.
FRONTIERS IN MARINE SCIENCE
(2020)
Article
Engineering, Marine
Timothy Sands
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2020)
Article
Engineering, Ocean
Xiaoguang Zhang et al.
APPLIED OCEAN RESEARCH
(2020)
Proceedings Paper
Engineering, Industrial
Mega Tri Hartono et al.
RECENT PROGRESS ON: MECHANICAL, INFRASTRUCTURE AND INDUSTRIAL ENGINEERING
(2020)
Article
Computer Science, Information Systems
Lanyong Zhang et al.
CLUSTER COMPUTING-THE JOURNAL OF NETWORKS SOFTWARE TOOLS AND APPLICATIONS
(2019)
Article
Energy & Fuels
Ahmed A. Zaki Diab et al.
Article
Automation & Control Systems
Zheping Yan et al.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2019)
Review
Environmental Sciences
Darryn Sward et al.
FRONTIERS IN MARINE SCIENCE
(2019)
Review
Engineering, Marine
Satja Sivcev et al.
Article
Computer Science, Information Systems
Jinqiang Wang et al.
Proceedings Paper
Automation & Control Systems
Jorge Rojas et al.
Article
Automation & Control Systems
Jian Gao et al.
IEEE TRANSACTIONS ON CYBERNETICS
(2016)
Book
Engineering, Ocean
SPRINGER HANDBOOK OF OCEAN ENGINEERING
(2016)
Article
Engineering, Aerospace
Binglong Cong et al.
AEROSPACE SCIENCE AND TECHNOLOGY
(2013)
Article
Automation & Control Systems
K. D. Do
INTERNATIONAL JOURNAL OF CONTROL
(2013)
Review
Green & Sustainable Science & Technology
Xiaoming Wang et al.
RENEWABLE & SUSTAINABLE ENERGY REVIEWS
(2012)
Article
Automation & Control Systems
E Lefeber et al.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2003)
Article
Automation & Control Systems
GP Liu et al.
CONTROL ENGINEERING PRACTICE
(2001)
