Dynamic task assignment and path planning of multi-AUV system based on an improved self-organizing map and velocity synthesis method in three-dimensional underwater workspace

IEEE Transactions on Cybernetics

Volumn 43, Issue 2, 2013, Pages 504-514

  Zhu, Daqi ^a   Huang, Huan ^a   Yang, Simon X ^b  

^a SHANGHAI MARITIME UNIVERSITY   (China)

^b UNIVERSITY OF GUELPH   (Canada)

Author keywords

3 D workspace; Dynamic task assignment; Multiple autonomous underwater vehicle (AUV) (multi AUV) system; Self organizing map (SOM); Time varying ocean current; Velocity synthesis

Indexed keywords

3-D WORKSPACE; DYNAMIC TASKS; MULTI-AUV; MULTIPLE AUTONOMOUS UNDERWATER VEHICLES; NEIGHBORHOOD FUNCTION; PATH-PLANNING ALGORITHM; SELF-ORGANIZING MAP NEURAL NETWORK; TIME VARYING;

CONFORMAL MAPPING; MOTION PLANNING; NEURAL NETWORKS; OCEAN CURRENTS; SELF ORGANIZING MAPS; VELOCITY;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 84886896052     PISSN: 21682267     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2012.2210212     Document Type: Article

References (30)

1. M. J. Mataric, "Minimizing complexity in controlling a mobile robot population," in Proc. IEEE Int. Conf. Robot. Autom., Nice, France, May 1992, vol. 1, pp. 830-835.
2. L. Parker, "Heterogeneous multi-robot cooperation," PH. D. dissertation, MIT, Cambridge, MA, Feb., 1994.
3. R. Akkiraju, P. Keskinocak, S. Murthy, and F. Wu, "An agent-based approach for scheduling multiple machines," Appl. Intell., vol. 14, no. 2, pp. 135-144, Mar. 2001.
4. R. Turner, "Intelligent control of autonomous underwater vehicles: The Orca project," in Proc. IEEE Int. Conf. Syst., Man, Cybern., Oct. 1995, vol. 2, pp. 1717-1722.
5. K. S. Kwok, B. J. Driessen, and C. A. Phillips, "Analyzing the multiple-target-multiple-agent scenario using optimal assignment algorithms," J. Intell. Syst., vol. 35, no. 1, pp. 111-122, Sep. 2002.
6. W.-M. Shen, C.-M. Chuong, and P. Will, "Simulating self-organization for multi-robot systems," in Proc. IEEE Int. Conf. Intell. Robot. Syst., Lausanne, Switzerland, Oct. 2002, vol. 3, pp. 2776-2781.
7. W.-M. Shen, P. Will, and A. Galstyan, "Hormone-inspired self-organization and distributed control of robotic swarms," Auton Robot., vol. 17, no. 1, pp. 93-105, Jul. 2004.
8. A. R. Willms and S. X. Yang, "An efficient dynamic system for real-time robot-path planning," IEEE Trans. Syst. Man. Cybern. B, Cybern., vol. 36, no. 4, pp. 755-766, Aug. 2006.
9. C. Petres, Y. Pailhas, P. Patron, Y. Petillot, J. Evans, and D. Lane, "Path planning for autonomous underwater vehicles," IEEE Trans. Robot., vol. 23, no. 2, pp. 331-341, Apr. 2007.
10. G. E. Jan, K. Y. Chang, and I. Parberry, "Optimal path planning for mobile robot navigation," IEEE Trans. Mechatron., vol. 13, no. 4, pp. 451-460, Aug. 2008.
11. A. Alvarez, A. Caiti, and R. Onken, "Evolutionary path planning for autonomous underwater vehicles in a variable ocean," IEEE J. Ocean. Eng., vol. 29, no. 2, pp. 418-429, Apr. 2004.
12. M. Soulignac, "Feasible and optimal path planning in strong current fields," IEEE Trans. Robot., vol. 27, no. 1, pp. 89-98, Feb. 2011.
13. B. Chow, "Assigning closely spaced targets to multiple autonomous underwater vehicles," PH. D. dissertation, Waterloo, ON, Canada, 2009.
14. A. Zhu and S. X. Yang, "A neural network approach to dynamic task assignment of multi-robot," IEEE Trans. Neural Netw., vol. 17, no. 5, pp. 1278-1287, Sep. 2006.
15. M. Sato, A. Kanda, and K. Ishii, "A switching controller system for a wheeled mobile robot," J. Bionic. Eng., vol. 4, no. 4, pp. 281-289, Dec. 2007.
16. Z. Hendzel, "Collision free path planning and control of wheeled mobile robot using self-organizing map," Bull. Polish Acad. Sci-Tech. Sci., vol. 53, no. 1, pp. 39-47, Mar. 2005.
17. B. Zhao, M. W. Hua, S. Z. He, and M. E. Rong, "Path recognition method of agricultural wheeled-mobile robot in shadow environment," in Proc. IEEE Int. Conf. E-health Netw., Digit. Ecosyst. Technol., Shenzhen, China, Apr. 2010, pp. 284-287.
18. A. Zhu and S. X. Yang, "An improved SOM-based approach to dynamic task assignment of multi-robots," in Proc. World Congr. Intell. Control Autom., Jinan, China, Jul. 2010, pp. 2168-2173.
19. A. Modares, S. Somhom, and T. Enkawa, "A self-organizing neural network approach for multiple traveling salesman and vehicle routing problems," Int. Trans. Oper. Res., vol. 6, no. 6, pp. 591-606, Nov. 1999.
20. H. D. Patino, R. Carelli, and B. R. Kuchen, "Neural networks for advanced control of robot manipulators," IEEE Trans. Neural Netw., vol. 13, no. 2, pp. 343-354, Mar. 2002.
21. S. X. Yang and Q. H.M.Meng, "Real-time collision-free motion planning of mobile robots using neural dynamics based approaches," IEEE Trans. Neural Netw., vol. 14, no. 6, pp. 1541-1552, Nov. 2003.
22. M. Han, N. Okada, and E. Kondo, "Coordination of an un-calibrated 3-D visuo-motor system based on multiple self-organizing maps," JSME Int. J. C, Mech. Syt., Mach. Elements Manuf., vol. 49, no. 1, pp. 230-239, 2006.
23. R. Reeve and J. Hallam, "An analysis of neural models for walking control," IEEE Trans. Neural Netw., vol. 16, no. 3, pp. 733-742, May 2005.
24. N. Miyata, J. Ota, T. Arai, and H. Asama, "Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 769-780, Oct. 2002.
25. T. Kohonen, "Analysis of a simple self-organizing process," Biol. Cybern., vol. 44, no. 2, pp. 135-140, Jul. 1982.
26. T. Kohonen, S. Kaski, K. Lagus, J. Salojaervi, J. Honkela, V. Paatero, and A. Saarela, "Self organization of a massive document collection," IEEE Trans. Neural Netw., vol. 11, no. 3, pp. 574-585, May 2000.
27. T. Lolla, M. P. Ueckermann, K. Yigit, P. J. Haley, Jr., and P. F. J. Lermusiaux, "Path planning in time dependent flow fields using level set methods," in Proc. IEEE Int. Conf. Robot. Autom., St. Paul, MN, May 14-18, 2012, pp. 166-173.
28. X. D. Kang, H. L. Xu, and X. S. Feng, "Fuzzy logic based behavior fusion for multi-AUV formation keeping in uncertain ocean environment," in Proc. OCEANS, MTS/IEEE Biloxi - Marine Technol. Future, Global Local Challenges, 2009, pp. 1-7.
29. B. Garau and A. Alvarez, "Path planning of autonomous underwater vehicles in current fields with complex spatial variability: An A* approach," in Proc. Int. Conf. Robot. Autom., 2005, pp. 194-198.
30. D. B. Kingston, "Decentralized control of multiple UAVs for perimeter and target surveillance," PH. D. dissertation, Brigham Young Univ., Provo, UT, 2007.