A survey of underwater search for multi-target using Multi-AUV: Task allocation, path planning, and formation control

被引：41

作者：

Wang, Linling ^{[1
]}

Zhu, Daqi ^{[2
]}

Pang, Wen ^{[2
]}

Zhang, Youmin ^{[3
]}

机构：

[1] Shanghai Maritime Univ, Shanghai Engn Res Ctr Intelligent Maritime Search, Haigang Ave 1550, Shanghai 201306, Peoples R China

[2] Univ Shanghai Sci & Technol, Sch Mech Engn, Jungong Rd 516, Shanghai 200093, Peoples R China

[3] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ H3G 1M8, Canada

来源：

OCEAN ENGINEERING | 2023年 / 278卷

基金：

中国国家自然科学基金; 加拿大自然科学与工程研究理事会;

关键词：

Autonomous underwater vehicle (AUV); Underwater search; Task allocation; Path planning; Formation control; VARYING FORMATION CONTROL; SELF-ORGANIZING MAP; COMPLETE COVERAGE; VEHICLES SUBJECT; ALGORITHM; ASSIGNMENT; OPTIMIZATION; COORDINATION; ROBOTS; ENVIRONMENTS;

D O I：

10.1016/j.oceaneng.2023.114393

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

There are significant advantages using the autonomous underwater vehicle (AUV) for underwater search. Compared with a single AUV, multi-AUV offers greater efficiency and better stability in underwater search. At the same time, the theoretical and technical level of autonomous navigation and cooperative control of multi-AUV formation is the key to the implementation of the underwater search task. The following key factors are worth discussing in the application of multi-AUV in underwater search: task allocation, path planning, and formation control. The purpose of this paper is to grasp the application and development trend of multi-AUV formation in underwater search, so as to summarize the past, present, and future research and development trends of this investigation field in detail.

引用

页数：19

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