Collaborative Research: Theory and Simulation Study for Communicating Autonomous Underwater Vehicles

合作研究：通信自主水下航行器的理论与仿真研究

• 批准号: 0328387
• 负责人: Edgar An
• 金额: $ 22万
• 依托单位: Florida Atlantic University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-09-01 至 2007-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0328387&HistoricalAwards=false
• 关键词: Collaborative; Research; Theory; Simulation; Study

Robotics and Computer Vision ProgramABSTRACTProposal #: 0328378PI: Tarn, Tzyh-JongWashington University Proposal #: 0328387PI: An, EdgarFlorida Atlantic UnivIt is recognized that successful operation of a network of AUVs rests upon efficient communication in the network. This proposal proposes a procedure for constructing controllers that limit and route information flow in a network of AUVs. Particular attention is paid to the objectives of maximizing throughput and bandwidth efficiency while minimizing power consumption. The proposed research intends to (i) Create a mathematical model for facilitating analytical study of communication problems for a network of AUVs, (ii) Adopt a receding horizon control approach to obtain a piecewise continuous optimal controller for the communication network, and (iii) Testing and evaluating of the obtained results.The major merits of this proposed research effort include (i) Addressing a fundamental challenge in distributed and co-operative control for a group of underwater vehicles, (ii) Creating a rigorous mathematical model for facilitating analytical study of communication problems for a network of AUVs rather than simply performing experimental study. The results of this research effort will broadly impact not only the successful operation of a network of AUVs, but also different areas of science and society. The outcome of the proposed research will be genetic. It can be applied to other engineering systems that can be modeled by differential and difference equations. Therefore, the proposed research will significantly enhance our general understanding about dynamics and control of a distributed complex system, and will have a specific impact to the U.S. Navy in terms of their Future Naval Capabilities in research and development.

机器人技术和计算机视觉程序AbsTractPropoposal＃：0328378PI：TARN，TZYH-JONGWASHINGTON UNIVERYS提案＃：0328387PI：AN，Edgarflorida Atlantic Univit认识到，ANEVES的成功在网络中有效地在网络中取决于网络。 该建议提出了一个程序，用于构建限制AUV网络中信息流和路由信息流的控制器。 特别注意最大化吞吐量和带宽效率的目标，同时最大程度地减少功耗。 拟议的研究打算（i）创建一个数学模型，以促进对AUV网络的沟通问题的分析研究，（ii）采用一种恢复的地平线控制方法，以获取对通信网络的分段连续最佳控制器，（iii）测试和评估获得的结果。水下车辆，（ii）创建一个严格的数学模型，以促进对AUV网络的通信问题的分析研究，而不是简单地进行实验研究。 这项研究工作的结果不仅会广泛影响AUV网络的成功运作，而且还会影响科学和社会的不同领域。 拟议研究的结果将是遗传的。它可以应用于可以通过差分方程和差异方程式建模的其他工程系统。 因此，拟议的研究将显着增强我们对分布式复杂系统的动态和控制的一般理解，并将其在研究和开发中的未来海军能力方面对美国海军产生特定的影响。