A mean square containment algorithm for unmanned surface vessels

Xutan Lu; Yanxuan Wu; Zhengjie Wang; Haozhe Cao

doi:10.1109/ICUS48101.2019.8995949

A mean square containment algorithm for unmanned surface vessels

Xutan Lu
, Yanxuan Wu
, Zhengjie Wang
, Haozhe Cao

机电学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

There are extensive civil and military applications of USVs(unmanned surface vessel), this paper focuses on the marine surveying and mapping application and analyzes the advantages of multi-USV cluster surveying and mapping, doing main research on one of many key technologies-multi-USV cluster control. Firstly, the structure of cluster controller is optimized. Then, the cluster problem of USVs is described by mathematical model and a mean square containment cluster control algorithm based on leader-follower strategy is designed, achieving the effect that we can control the entire cluster motion by only controlling the leaders' motion. Finally, the effectiveness of the algorithm is verified in numerical simulation in the case of ideal communication and communication with delays.

源语言	英语
主期刊名	Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
出版商	Institute of Electrical and Electronics Engineers Inc.
页	569-574
页数	6
ISBN（电子版）	9781728137926
DOI	https://doi.org/10.1109/ICUS48101.2019.8995949
出版状态	已出版 - 10月 2019
活动	2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, 中国期限: 17 10月 2019 → 19 10月 2019

丛书

姓名	Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

会议

会议	2019 IEEE International Conference on Unmanned Systems, ICUS 2019
国家/地区	中国
市	Beijing
时期	17/10/19 → 19/10/19

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 14 水下生物

访问文件

10.1109/ICUS48101.2019.8995949

其它文件与链接

链接到 Scopus 的出版物

引用此

Lu, X., Wu, Y., Wang, Z., & Cao, H. (2019). A mean square containment algorithm for unmanned surface vessels. 在 Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 (页码 569-574). 期刊论文 8995949 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS48101.2019.8995949

@inproceedings{fc5d1031c3b14d25a775499606720d17,

title = "A mean square containment algorithm for unmanned surface vessels",

abstract = "There are extensive civil and military applications of USVs(unmanned surface vessel), this paper focuses on the marine surveying and mapping application and analyzes the advantages of multi-USV cluster surveying and mapping, doing main research on one of many key technologies-multi-USV cluster control. Firstly, the structure of cluster controller is optimized. Then, the cluster problem of USVs is described by mathematical model and a mean square containment cluster control algorithm based on leader-follower strategy is designed, achieving the effect that we can control the entire cluster motion by only controlling the leaders' motion. Finally, the effectiveness of the algorithm is verified in numerical simulation in the case of ideal communication and communication with delays.",

keywords = "Unmanned surface vessel, cluster, mean square containment control",

author = "Xutan Lu and Yanxuan Wu and Zhengjie Wang and Haozhe Cao",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 ; Conference date: 17-10-2019 Through 19-10-2019",

year = "2019",

month = oct,

doi = "10.1109/ICUS48101.2019.8995949",

language = "English",

series = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "569--574",

booktitle = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",

address = "United States",

}

Lu, X, Wu, Y , Wang, Z & Cao, H 2019, A mean square containment algorithm for unmanned surface vessels. 在 Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019., 8995949, Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019, Institute of Electrical and Electronics Engineers Inc., 页码 569-574, 2019 IEEE International Conference on Unmanned Systems, ICUS 2019, Beijing, 中国, 17/10/19. https://doi.org/10.1109/ICUS48101.2019.8995949

A mean square containment algorithm for unmanned surface vessels. / Lu, Xutan; Wu, Yanxuan ; Wang, Zhengjie 等.
Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 页码 569-574 8995949 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A mean square containment algorithm for unmanned surface vessels

AU - Lu, Xutan

AU - Wu, Yanxuan

AU - Wang, Zhengjie

AU - Cao, Haozhe

PY - 2019/10

Y1 - 2019/10

N2 - There are extensive civil and military applications of USVs(unmanned surface vessel), this paper focuses on the marine surveying and mapping application and analyzes the advantages of multi-USV cluster surveying and mapping, doing main research on one of many key technologies-multi-USV cluster control. Firstly, the structure of cluster controller is optimized. Then, the cluster problem of USVs is described by mathematical model and a mean square containment cluster control algorithm based on leader-follower strategy is designed, achieving the effect that we can control the entire cluster motion by only controlling the leaders' motion. Finally, the effectiveness of the algorithm is verified in numerical simulation in the case of ideal communication and communication with delays.

AB - There are extensive civil and military applications of USVs(unmanned surface vessel), this paper focuses on the marine surveying and mapping application and analyzes the advantages of multi-USV cluster surveying and mapping, doing main research on one of many key technologies-multi-USV cluster control. Firstly, the structure of cluster controller is optimized. Then, the cluster problem of USVs is described by mathematical model and a mean square containment cluster control algorithm based on leader-follower strategy is designed, achieving the effect that we can control the entire cluster motion by only controlling the leaders' motion. Finally, the effectiveness of the algorithm is verified in numerical simulation in the case of ideal communication and communication with delays.

KW - Unmanned surface vessel

KW - cluster

KW - mean square containment control

UR - https://www.scopus.com/pages/publications/85080906990

U2 - 10.1109/ICUS48101.2019.8995949

DO - 10.1109/ICUS48101.2019.8995949

M3 - Conference contribution

AN - SCOPUS:85080906990

T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

SP - 569

EP - 574

BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

Y2 - 17 October 2019 through 19 October 2019

ER -

Lu X, Wu Y , Wang Z, Cao H. A mean square containment algorithm for unmanned surface vessels. 在 Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 页码 569-574. 8995949. (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019). doi: 10.1109/ICUS48101.2019.8995949

A mean square containment algorithm for unmanned surface vessels

摘要

丛书

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此