Collaborative communication-based ocean observation research with heterogeneous unmanned surface vessels
Unmanned surface vehicles (USVs) are crucial in ensuring maritime safety and observation, attracting widespread attention and research. However, a single USV exhibits limited performance and cannot effectively observe complex marine environments. In contrast, clusters of USVs can collaborate to exec...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2024-03-01
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| Series: | Frontiers in Marine Science |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fmars.2024.1388617/full |
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| author | Zhen Kang Zhen Kang Miao Gao Miao Gao Zihao Liao Anmin Zhang Anmin Zhang |
| author_facet | Zhen Kang Zhen Kang Miao Gao Miao Gao Zihao Liao Anmin Zhang Anmin Zhang |
| author_sort | Zhen Kang |
| collection | DOAJ |
| description | Unmanned surface vehicles (USVs) are crucial in ensuring maritime safety and observation, attracting widespread attention and research. However, a single USV exhibits limited performance and cannot effectively observe complex marine environments. In contrast, clusters of USVs can collaborate to execute complex maritime tasks, thereby enhancing the overall operational efficiency. USVs typically form heterogeneous clusters by combining vehicles with varying maneuverabilities and communication network capabilities. This has sparked an increased interest in cooperative communication research within heterogeneous USV clusters. The heterogeneous USVs discussed in this paper share the same dynamic model; however, they differ in dynamic parameters and communication capabilities. First, this study establishes a three-degree-of-freedom motion mathematical model for an underdriven USV considering environmental interference. It estimates the dynamic parameters of four USVs and evaluates their communication abilities, laying the foundation for researching the cooperative control of heterogeneous USV clusters and their application in Ocean Observation. Next, the communication capability of the USVs is assessed by studying the communication mode and signal transmission loss within the USV clusters. This study investigates the problem of cooperative communication in USV cluster formation, starting with the communication delay of USV clusters under a directed switching topology. Finally, a coherent formation controller is designed under a switching communication topology to address the dynamic transformation of communication topologies within heterogeneous USV clusters. This verifies that heterogeneous USV clusters can seamlessly form and maintain formation shapes during communication topology transformations through formation simulation experiments involving four heterogeneous USVs was 22% higher than that of dispersed control topology structures. This study provides a solid foundation for future investigations into the cooperative control of heterogeneous USV clusters and their applications in marine observations. |
| format | Article |
| id | doaj-art-658945e355be447384644de300ed354c |
| institution | Kabale University |
| issn | 2296-7745 |
| language | English |
| publishDate | 2024-03-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Marine Science |
| spelling | doaj-art-658945e355be447384644de300ed354c2025-01-22T12:09:30ZengFrontiers Media S.A.Frontiers in Marine Science2296-77452024-03-011110.3389/fmars.2024.13886171388617Collaborative communication-based ocean observation research with heterogeneous unmanned surface vesselsZhen Kang0Zhen Kang1Miao Gao2Miao Gao3Zihao Liao4Anmin Zhang5Anmin Zhang6Tianjin University, School Marine Science and Technology, Tianjin, ChinaKey Laboratory of Ocean Observation Technology (KLOOT), Ministry of Natural Resources (MNR), Tianjin, ChinaTianjin University, School Marine Science and Technology, Tianjin, ChinaKey Laboratory of Ocean Observation Technology (KLOOT), Ministry of Natural Resources (MNR), Tianjin, ChinaTianjin University, School Marine Science and Technology, Tianjin, ChinaTianjin University, School Marine Science and Technology, Tianjin, ChinaKey Laboratory of Ocean Observation Technology (KLOOT), Ministry of Natural Resources (MNR), Tianjin, ChinaUnmanned surface vehicles (USVs) are crucial in ensuring maritime safety and observation, attracting widespread attention and research. However, a single USV exhibits limited performance and cannot effectively observe complex marine environments. In contrast, clusters of USVs can collaborate to execute complex maritime tasks, thereby enhancing the overall operational efficiency. USVs typically form heterogeneous clusters by combining vehicles with varying maneuverabilities and communication network capabilities. This has sparked an increased interest in cooperative communication research within heterogeneous USV clusters. The heterogeneous USVs discussed in this paper share the same dynamic model; however, they differ in dynamic parameters and communication capabilities. First, this study establishes a three-degree-of-freedom motion mathematical model for an underdriven USV considering environmental interference. It estimates the dynamic parameters of four USVs and evaluates their communication abilities, laying the foundation for researching the cooperative control of heterogeneous USV clusters and their application in Ocean Observation. Next, the communication capability of the USVs is assessed by studying the communication mode and signal transmission loss within the USV clusters. This study investigates the problem of cooperative communication in USV cluster formation, starting with the communication delay of USV clusters under a directed switching topology. Finally, a coherent formation controller is designed under a switching communication topology to address the dynamic transformation of communication topologies within heterogeneous USV clusters. This verifies that heterogeneous USV clusters can seamlessly form and maintain formation shapes during communication topology transformations through formation simulation experiments involving four heterogeneous USVs was 22% higher than that of dispersed control topology structures. This study provides a solid foundation for future investigations into the cooperative control of heterogeneous USV clusters and their applications in marine observations.https://www.frontiersin.org/articles/10.3389/fmars.2024.1388617/fullheterogeneousUSVcollaborative communicationocean observationtopology optimization |
| spellingShingle | Zhen Kang Zhen Kang Miao Gao Miao Gao Zihao Liao Anmin Zhang Anmin Zhang Collaborative communication-based ocean observation research with heterogeneous unmanned surface vessels Frontiers in Marine Science heterogeneous USV collaborative communication ocean observation topology optimization |
| title | Collaborative communication-based ocean observation research with heterogeneous unmanned surface vessels |
| title_full | Collaborative communication-based ocean observation research with heterogeneous unmanned surface vessels |
| title_fullStr | Collaborative communication-based ocean observation research with heterogeneous unmanned surface vessels |
| title_full_unstemmed | Collaborative communication-based ocean observation research with heterogeneous unmanned surface vessels |
| title_short | Collaborative communication-based ocean observation research with heterogeneous unmanned surface vessels |
| title_sort | collaborative communication based ocean observation research with heterogeneous unmanned surface vessels |
| topic | heterogeneous USV collaborative communication ocean observation topology optimization |
| url | https://www.frontiersin.org/articles/10.3389/fmars.2024.1388617/full |
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