The Orbiting Dubins Traveling Salesman Problem: planning inspection tours for a minehunting AUV

Wolek, Artur; McMahon, James; Dzikowicz, Benjamin R.; Houston, Brian H.

doi:10.1007/s10514-020-09946-5

Cited by 13 publications

(3 citation statements)

References 47 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Based on the Dubins-path in Fig. 6, the desired trajectory in the Earth-fixed frame can be described as, The parameters in the selected sliding mode surface (66) are K = diag (5,50,50,10,1,1), Δ= diag (2000,2000,1),p=5, q=3.…”

Section: Numerical Simulationmentioning

confidence: 99%

“…So, in order to complete AUV recovery autonomously, the recovery path should be given firstly. A Dubins path planning algorithm, which is designed to solve a traveling salesman problem, is proposed to find a time shortest path under some constraints, but the path obtained is not smooth [10]. Combined with the kinematics constraint of AUV, Dubins method is also used to plan the transition path between subregions to make the path smooth [11].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method

et al. 2022

View full text Add to dashboard Cite

In order to improve the persistent operation capacity of autonomous underwater vehicle (AUV), autonomous recovery system draws more and more attention in recent years. A hybrid scheme combined with navigation, guidance and control is proposed to complete the function of autonomous recovery of AUV in the paper. Based on the hybrid scheme, the autonomous recovery is firstly transformed into the trajectory tracking problem, and the Dubins path planning method is adopted to build the threedimensional(3D) motion path of AUV. Secondly, the virtual target guidance strategy is introduced to guide the AUV to track the desired path. Finally, a non-singular terminal sliding mode controller is designed to control the AUV. Due to the existence of model inaccuracy of AUV and external disturbances from the environment, a finite-time disturbance observer is adopted to estimate the disturbance and uncertainty in the system. Numerical simulation is conducted to verify its performance. The simulation results show that a 3D motion path can be planed and the AUV can track the motion path well.

show abstract

Section: Numerical Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method

et al. 2022

View full text Add to dashboard Cite

show abstract

“…With the further exploration of the ocean, Autonomous Underwater Vehicles (AUVs) have started to play an important role in various marine activities, and AUVs are commonly used in tasks such as marine ecosystem detection, underwater inspection and surveillance, and subsea pipeline laying [1][2][3]. As the complexity of AUV missions increases, the operating environment of AUVs will become more and more complex.…”

Section: Introductionmentioning

confidence: 99%

Multi-AUV Formation Predictive Control Based on CNN-LSTM under Communication Constraints

Tian

Zhang

et al. 2023

JMSE

View full text Add to dashboard Cite

For the problem of hydroacoustic communication constraints in multi-AUV leader follower formation, this paper designs a formation control method combining CNN-LSTM prediction and backstepping sliding mode control. First, a feedback linearization method is used to transform the AUV nonlinear model into a second-order integral model; then, the influence of hydroacoustic communication constraints on the multi-AUV formation control problem is analyzed, and a sliding window-based formation prediction control strategy is designed; for the characteristics of AUV motion trajectory with certain temporal order, the CNN-LSTM prediction model is selected to predict the trajectory state of the leader follower and compensate the effect of communication delay on formation control, and combine the backstepping method and sliding mode control to design the formation controller. Finally, the simulation experimental results show that the proposed CNN-LSTM prediction and backstepping sliding mode control can improve the effect of hydroacoustic communication constraints on formation control.

show abstract

Discrete artificial bee colony algorithm with fixed neighborhood search for traveling salesman problem

Li,

Zhang,

Shao

2024

Engineering Applications of Artificial Intelligence

View full text Add to dashboard Cite

The Orbiting Dubins Traveling Salesman Problem: planning inspection tours for a minehunting AUV

Cited by 13 publications

References 47 publications

A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method

A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method

Multi-AUV Formation Predictive Control Based on CNN-LSTM under Communication Constraints

Discrete artificial bee colony algorithm with fixed neighborhood search for traveling salesman problem

Contact Info

Product

Resources

About