基于Dubins曲线的AUV集群协同搜索优化-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Optimization of AUV Cluster Collaborative Searching Based on Dubins Curve

作者:: 刘佳宁1; 郑凯1; 梁霄2; （1. 大连海事大学船舶电气工程学院，辽宁大连 116026；2. 大连海事大学船舶与海洋工程学院，辽宁大连 116026）

Author(s):: LIU Jianing 1; ZHENG Kai 1; LIANG Xiao 2; (1. Marine Electrical Engineering College，Dalian Maritime University，Dalian 116026，China;2. Naval Architecture and Ocean Engineering College，Dalian Maritime University，Dalian 116026， China)

Keywords:: full coverage searching; dubins curves; collaborative exploration; autonomous underwater vehicle （AUV）

摘要:: 实现目标搜索区域的全覆盖，是在开阔海域使用自主水下航行器(autonomous underwater vehicle，AUV)进行协同区域搜索应解决的首要问题之一。针对传统牛耕式集群搜索算法存在遗漏区域问题，在AUV运动学约束的基础上，提出一种基于Dubins曲线的协同区域搜索算法，给出集群中不同AUV的转弯时机，使AUV集群在满足目标区域全覆盖的条件下重复搜索面积最小。仿真结果表明，AUV集群的新型协同搜索方式在覆盖范围方面比传统牛耕式集群搜索方式更具优势。

Abstract:: Full area coverage is one of the primary problems to be solved for cooperative searching of autonomous underwater vehicle (AUV) cluster at the open sea. Due to the limitation of the traditional boustrophedon-based cluster searching algorithm，the target area cannot be full covered. This paper proposes a cooperative region searching algorithm based on Dubins curve with the consideration of AUV’s kinematic constraints. The algorithm not only meets the requirement of area coverages，but also minimizes the overlaping searching area of AUV clusters. Moreover，the turning timing of different AUVs in the cluster can be obtained. The simulation results show the advantages of the new searching algorithm of AUV cluster.