一种用于寻找无人船回收海床基数据最佳通信点的梯度上升控制法

金久才; 张杰; 吕志超

doi:10.1631/FITEE.1700732

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一种用于寻找无人船回收海床基数据最佳通信点的梯度上升控制法

常规文章 | Updated：2022-05-19

- 一种用于寻找无人船回收海床基数据最佳通信点的梯度上升控制法
- A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle
- 信息与电子工程前沿（英文） 2019年20卷第6期页码：751-759
- Affiliations：
  
  First Institute of Oceanography, Ministry of Natural Resources, Qingdao 266061, China
  College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China
- Author bio：
  
  Jiu-cai JIN, E-mail: jinjiucai@fio.org.cn
- Funds：
  
  Project supported by the National Key R&D Program of China (No. 2017YFC1405203), the National Natural Science Foundation of China (No. 61401111), and the Public Science and Technology Research Funds Projects of Ocean, China (No. 201505005-2)
- DOI：10.1631/FITEE.1700732
  中图分类号： TP273
- 收稿：2017-11-07，
  
  修回：2019-;6-11，
  
  纸质出版：2019-06
- Accepted：
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金久才, 张杰, 吕志超. 一种用于寻找无人船回收海床基数据最佳通信点的梯度上升控制法[J]. 信息与电子工程前沿（英文）, 2019,20(6):751-759.

Jiu-cai JIN, Jie ZHANG, Zhi-chao LV. A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(6): 751-759.
金久才, 张杰, 吕志超. 一种用于寻找无人船回收海床基数据最佳通信点的梯度上升控制法[J]. 信息与电子工程前沿（英文）, 2019,20(6):751-759. DOI： 10.1631/FITEE.1700732.

Jiu-cai JIN, Jie ZHANG, Zhi-chao LV. A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(6): 751-759. DOI： 10.1631/FITEE.1700732.

摘要

给出了一种在无人船声学回收海床基数据时寻找最佳通信点的控制方法。众所周知，梯度上升极值寻找法常应用于多平台或多智能体，这是因为多平台能大范围测量且易于梯度估计。单一平台测量范围有限，不能快速估计测量场，难以迅速获得测量场极值。本文提出一种无人船振荡运动形式，以获取海床基与无人船间水声通信链路强度数据。基于多元加权线性递归法，利用无人船振荡运动获取的新数据，不断更新水声通信链路强度场。基于梯度上升和人工势场方法，考虑未知场的递归估计，设计无人船最佳通信点控制器，并证明其稳定性。仿真结果表明该算法可靠、高效。

Abstract

A novel controller for finding the best communication point is proposed for collecting data from a seabed platform by a single unmanned surface vehicle (USV) using underwater acoustic communication (UAC). As far as we know

extremum seeking based on climbing control is usually implemented by multiple vehicles or agents because of the large range of measurement and easy acquisition of gradient estimation. A single vehicle cannot rapidly estimate the field because of the limited extent for measurement; therefore

it is difficult for a single vehicle to seek the extremum point in a field. In this study

an oscillation motion (OM) is designed for a single USV to acquire UAC's link strength data between the seabed platform and the USV. The field for UAC's link strength is updated using new measurement from an OM of the USV based on a multi-variable weight linear iteration method. A controller for seeking the best UAC's point of the USV is designed using gradient climbing and artificial potential considering iterative estimation of an unknown field and an OM operation

and the stability is proved. The reliability and efficiency are shown in simulation results.

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