Abstract
Target search mission in given 3-D underwater environments is a challenge in heterogeneous AUV swarms exploration. In this paper, an effective and low consumption strategy is focused for the challenge. With consistency theory, two problems are proposed: optimal partition of regions and cooperative search of targets. First, the original computational geometry of spatial structures is exploited using centroidal Voronoi tessellation. Then, the optimal distribution of the regions under weighted condition of the target probability is obtained by using the mission load dynamic model. Next, a distributed cooperative protocol based on consensus strategy is proposed to solve the cooperative search problem. Finally, theoretical results are validated through simulations on heterogeneous AUV swarms.
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Lu, Y., Luo, G., Guo, X., Chen, Y. (2022). An Approach for Optimal Coverage of Heterogeneous AUV Swarm Based on Consistency Theory. In: Pan, L., Cui, Z., Cai, J., Li, L. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2021. Communications in Computer and Information Science, vol 1566. Springer, Singapore. https://doi.org/10.1007/978-981-19-1253-5_14
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DOI: https://doi.org/10.1007/978-981-19-1253-5_14
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