Distributed Traversability Analysis of Flow Field Under Communication Constraints

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	Distributed Traversability Analysis of Flow Field Under Communication Constraints
	Liu SJ(刘世杰); Sun J(孙洁); Yu JC(俞建成); Zhang AQ(张艾群); Zhang FM(张福民); Wang B(王博)
刊名	IEEE Journal of Oceanic Engineering
	2018
页码	1-10
关键词	communication constraints marine robotics path planning traversability analysis
ISSN号	0364-9059
通讯作者	Zhang FM(张福民)
产权排序	1
中文摘要	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.
收录类别	EI
语种	英语
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21814]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta,GA 30332 USA 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Liu SJ,Sun J,Yu JC,et al. Distributed Traversability Analysis of Flow Field Under Communication Constraints[J]. IEEE Journal of Oceanic Engineering,2018:1-10.
APA	Liu SJ,Sun J,Yu JC,Zhang AQ,Zhang FM,&王博.(2018).Distributed Traversability Analysis of Flow Field Under Communication Constraints.IEEE Journal of Oceanic Engineering,1-10.
MLA	Liu SJ,et al."Distributed Traversability Analysis of Flow Field Under Communication Constraints".IEEE Journal of Oceanic Engineering (2018):1-10.