Research

25 pages, 5857 KiB

Open AccessArticle

Distributed Lyapunov-Based Model Predictive Control for AUV Formation Systems with Multiple Constraints

by Zheping Yan, Mingyao Zhang, Jiajia Zhou and Lidong Yue

J. Mar. Sci. Eng. 2024, 12(3), 363; https://doi.org/10.3390/jmse12030363 - 20 Feb 2024

Viewed by 606

This paper focuses on the formation tracking issue of autonomous underwater vehicles (AUVs) subject to multiple constraints in three-dimensional space. We developed a novel distributed Lyapunov-based model predictive controller (DLMPC) with a fast finite-time extended state observer (FFTESO). Initially, the external disturbances and [...] Read more.

This paper focuses on the formation tracking issue of autonomous underwater vehicles (AUVs) subject to multiple constraints in three-dimensional space. We developed a novel distributed Lyapunov-based model predictive controller (DLMPC) with a fast finite-time extended state observer (FFTESO). Initially, the external disturbances and internal uncertainties of each AUV were precisely compensated using the designed FFTESO. Subsequently, we proposed DLMPC-based position tracking and velocity tracking controllers, which solved an online optimization problem to determine optimal velocities and control forces. This hierarchical framework effectively managed system constraints, such as state constraints and actuator saturation. Additionally, the Lyapunov-based backstepping control law was applied to construct stability constraints in the distributed optimization problem, ensuring the recursive feasibility and closed-loop system stability of the proposed scheme. Sufficient conditions and attraction regions to ensure stability were explicitly provided. Finally, the simulation results demonstrated that the proposed method improved both the convergence speed and tracking accuracy by at least 30% compared to other methods. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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15 pages, 4528 KiB

Open AccessArticle

An Underwater Distributed SLAM Approach Based on Improved GMRBnB Framework

by Feihu Zhang, Diandian Xu and Chensheng Cheng

J. Mar. Sci. Eng. 2023, 11(12), 2271; https://doi.org/10.3390/jmse11122271 - 29 Nov 2023

Viewed by 742

Abstract

Multi-vehicle collaborative mapping proves more efficient in constructing maps in unfamiliar underwater environments in comparison to single-vehicle methods. One of the pivotal hurdles of Simultaneous Localization and Mapping (SLAM) with multiple underwater vehicles is map registration. Due to the inadequate characteristics of the [...] Read more.

Multi-vehicle collaborative mapping proves more efficient in constructing maps in unfamiliar underwater environments in comparison to single-vehicle methods. One of the pivotal hurdles of Simultaneous Localization and Mapping (SLAM) with multiple underwater vehicles is map registration. Due to the inadequate characteristics of the underwater grid maps, matching map features poses a challenge, and outliers between maps add to the complexity. We propose an algorithm to solve this problem. This approach employs the Gaussian Mixture Robust Branch and Bound (GMRBnB) algorithm with an interior point filtering technique. Feature point extraction, registration using the GMRBnB algorithm, inlier extraction based on density, and registration of the inlier are performed to obtain a more precise transformation matrix. The results of the simulation and experiments demonstrate that this technique heightens outlier tolerance and reinforces map registration accuracy. The proposed approach surpasses Iterative Closest Point (ICP) and Normal Distributions Transform (NDT) methods with respect to map registration quality. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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18 pages, 11733 KiB

Open AccessArticle

Numerical Investigation on Interactive Hydrodynamic Performance of Two Adjacent Unmanned Underwater Vehicles (UUVs)

by Xiaodong Liu, Yuli Hu, Zhaoyong Mao, Wenjun Ding and Shiyu Han

J. Mar. Sci. Eng. 2023, 11(11), 2088; https://doi.org/10.3390/jmse11112088 - 31 Oct 2023

Viewed by 883

Abstract

This study investigates the effectiveness of UUV formations during navigation to designated target areas. The research focuses on propeller-equipped UUVs and employs a computational fluid dynamics (CFD) methodology to analyze the hydrodynamic interactions among multiple UUV formations while en route to their targeted [...] Read more.

This study investigates the effectiveness of UUV formations during navigation to designated target areas. The research focuses on propeller-equipped UUVs and employs a computational fluid dynamics (CFD) methodology to analyze the hydrodynamic interactions among multiple UUV formations while en route to their targeted exploration areas. Utilizing the relative drag coefficients (

r_{l} a n d r_{f}

) and static thrust (

R_{f l e e t s}

) as analytical parameters, this paper defines the relative distances (

a

and

b

) between UUVs within a formation and conducts a comparative analysis of the hydrodynamic performance between individual UUVs and formation configurations. The study establishes correlations between relative distances and the hydrodynamic performance of formations. The findings reveal the following: 1. For both the lead UUV and the following UUV within the formation, the

r_{l} a n d r_{f}

heatmaps exhibit two distinct regions: a thrust region and a drag region. Notably, these regions significantly overlap. The maximum

r_{l}

is 31.23%, while the minimum

r_{f}

is −20.9%, corresponding to relative distances of

a

= 0.12 and

b

= 1.5. Conversely, the minimum

r_{l}

is −12.2%, while the maximum

r_{f}

is 22.03%, with relative distances of

a

= 1.1 and

b

= 0.2; 2. An analysis of formation static thrust

R_{f l e e t s}

reveals that it can be up to 7% greater than the drag experienced by self-propelled UUVs when relative distances

a

and

b

are set to 1.1 and 1, respectively. This highlights the enhanced performance achievable through formation navigation. The results presented in this paper offer valuable theoretical insights into the optimal design of relative distances within UUV formations, contributing to the advancement of UUV formation navigation strategies. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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19 pages, 9248 KiB

Open AccessArticle

Comparative Research on Topologies of Contra-Rotating Motors for Underwater Vehicles

by Bo Cheng, Shengzhao Pang, Huanyu Ou, Zeyan Hu and Zhaoyong Mao

J. Mar. Sci. Eng. 2023, 11(11), 2042; https://doi.org/10.3390/jmse11112042 - 24 Oct 2023

Viewed by 921

Abstract

Underwater vehicles have been widely used in marine exploration and development. A contra-rotating propeller (CRP) can improve propulsion efficiency, eliminate the roll moment of the propeller acting on underwater vehicles, and significantly improve the dynamic performance of underwater vehicles. Contra-rotating motors (CRMs) are [...] Read more.

Underwater vehicles have been widely used in marine exploration and development. A contra-rotating propeller (CRP) can improve propulsion efficiency, eliminate the roll moment of the propeller acting on underwater vehicles, and significantly improve the dynamic performance of underwater vehicles. Contra-rotating motors (CRMs) are used to drive CRPs. Topologies of CRMs include an armature rotating contra-rotating motor (ARCRM), double contra-rotating motors (DCRMs), and a double rotor contra-rotating motor (DRCRM). In this paper, the design and optimization of these different topological CRMs were realized with analytical calculations of the magnetic field and electromagnetic performance. The efficiency map and losses analysis of CRMs with different topologies are obtained with the finite element method. In order to achieve suitable CRMs to drive the CRPs of underwater vehicles, three topologies for CRMs will be compared comprehensively from the perspective of structure, weight, size, loss, and efficiency. For low-speed, high-torque CRPs, the ARCRM has been proven to improve efficiency and power density. An ARCRM prototype was developed to verify this solution and its reliability. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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21 pages, 8080 KiB

Open AccessArticle

Dynamic Modeling and Robust Trajectory Tracking Control of a Hybrid Propulsion-Based Small Underwater Robot

by Yu Wang, Yujie Wang, Yaxin Li and Cheng Ren

J. Mar. Sci. Eng. 2023, 11(10), 1934; https://doi.org/10.3390/jmse11101934 - 07 Oct 2023

Viewed by 947

Abstract

This paper proposes a hybrid propulsion-based small underwater robot for robust trajectory tracking control in a harsh and complex underwater environment. The robot is equipped with a Coanda-effect jet thruster and a pair of propeller-based reconfigurable magnetic-coupling thrusters, allowing it to traverse safely [...] Read more.

This paper proposes a hybrid propulsion-based small underwater robot for robust trajectory tracking control in a harsh and complex underwater environment. The robot is equipped with a Coanda-effect jet thruster and a pair of propeller-based reconfigurable magnetic-coupling thrusters, allowing it to traverse safely in confined or cluttered spaces as well as cruise efficiently in the open water. To investigate the robot dynamic modeling, we first formulated its simplified mathematical model and estimated the hydrodynamic coefficients by performing the planar motion mechanism using CFD (computational fluid dynamics) simulation. Then, a double-loop trajectory tracking control architecture was designed considering the model uncertainties and environmental disturbances. Based on Lyapunov theory, the outer-loop kinematic control produces the virtual velocity command, while the inner-loop dynamic control adopts the full-state feedback L1-adaptive control to match the command. The asymptotic convergence of the tracking errors and the stability of the whole closed-loop system are guaranteed. Finally, comparative simulations in the presence of unknown disturbances and the variation of model parameters were carried out to verify the robustness of our proposed trajectory tracking control, which is also suitable for the separated son robots. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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16 pages, 7237 KiB

Open AccessArticle

Data Generation with GAN Networks for Sidescan Sonar in Semantic Segmentation Applications

by Dianyu Yang, Can Wang, Chensheng Cheng, Guang Pan and Feihu Zhang

J. Mar. Sci. Eng. 2023, 11(9), 1792; https://doi.org/10.3390/jmse11091792 - 14 Sep 2023

Viewed by 1062

Abstract

In the realm of underwater exploration, particularly within the domain of autonomous detection, sidescan sonar stands as a pivotal sensor apparatus. Autonomous detection models necessitate a substantial volume of scanned sonar image data for optimal training, yet the challenges and costs associated with [...] Read more.

In the realm of underwater exploration, particularly within the domain of autonomous detection, sidescan sonar stands as a pivotal sensor apparatus. Autonomous detection models necessitate a substantial volume of scanned sonar image data for optimal training, yet the challenges and costs associated with acquiring such data pose significant limitations on the deployment of autonomous detection models in underwater exploration scenarios. Consequently, there arises a demand for the development of cost-effective data augmentation techniques. In the present investigation, an initial collection of scanned sonar image data was conducted during lake trials, encompassing diverse environmental regions, including rocky terrain, shadowed areas, and aquatic bodies. Subsequently, a proprietary generative adversarial network (GAN) model was devised for the purpose of synthesizing scanned sonar data. The synthesized data underwent denoising and underwent post-processing via algorithmic methods. Subsequently, similarity metrics were computed to gauge the quality of the generated scanned sonar data. Furthermore, a semantic segmentation model was meticulously crafted and trained by employing authentic data. The generated data were subsequently introduced into this semantic segmentation model. The output outcomes demonstrated that the model exhibited preliminary labeling proficiency on the generated image data, requiring only minimal manual intervention to conform to the standards of a conventional dataset. Following the inclusion of the labeled data into the original dataset and the subsequent training of the network model utilizing the expanded dataset, there was an observed discernible enhancement in the segmentation performance of the model. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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29 pages, 8666 KiB

Open AccessArticle

Development of a 6 Degree of Freedom Unmanned Underwater Vehicle: Design, Construction and Real-Time Experiments

by Salatiel Garcia-Nava, Miguel Angel García-Rangel, Ángel Eduardo Zamora-Suárez, Adrian Manzanilla-Magallanes, Filiberto Muñoz, Rogelio Lozano and Agnelo Serrano-Almeida

J. Mar. Sci. Eng. 2023, 11(9), 1744; https://doi.org/10.3390/jmse11091744 - 05 Sep 2023

Cited by 2 | Viewed by 1584

Abstract

This research work describes the development of a fully actuated 6 Degree of Freedom (DOF) Unmanned Underwater Vehicle (UUV), which can be used for environmental monitoring, three-dimensional (3D) reconstruction applications, as well a research platform. The main vehicle’s characteristics are: it is designed [...] Read more.

This research work describes the development of a fully actuated 6 Degree of Freedom (DOF) Unmanned Underwater Vehicle (UUV), which can be used for environmental monitoring, three-dimensional (3D) reconstruction applications, as well a research platform. The main vehicle’s characteristics are: it is designed to have easy access to all components, it has eight thrusters in a vectored configuration, it is based on an open source ArduSub firmware, it has a vision system composed of a stereo camera and a powerful computer for image processing. The mechatronics design is presented, where the mechanical, electrical and electronics, and the vision system are described. Furthermore, a general dynamic model for 6 DOF based on Fossen’s methodology is presented. In addition, a reduced 3 DOF mathematical model is derived for control purposes, where the roll, pitch and depth dynamics are considered. To show the performance in trajectory tracking tasks, two classical control strategies are introduced: a Super Twisting Controller and a Robust Proportional Derivative (PD) Controller. Finally, in order to exhibit the satisfactory performance of the developed vehicle, some experiments were conducted with the Super Twisting and Robust PD Controllers, as well as a 3D reconstruction of a plastic cover on the pool wall. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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19 pages, 5094 KiB

Open AccessArticle

Surfacing Positioning Point Prediction of Underwater Glider with a New Combination Model

by Runfeng Zhang, Wendong Niu, Xu Wan, Yining Wu, Dongyang Xue and Shaoqiong Yang

J. Mar. Sci. Eng. 2023, 11(5), 972; https://doi.org/10.3390/jmse11050972 - 02 May 2023

Viewed by 1255

Abstract

Combination prediction models have gained great development in the area of information science, and are widely applied in engineering fields. The underwater glider (UG) is a new type of unmanned vehicle used in ocean observation for the advantages of long endurance, low noise, [...] Read more.

Combination prediction models have gained great development in the area of information science, and are widely applied in engineering fields. The underwater glider (UG) is a new type of unmanned vehicle used in ocean observation for the advantages of long endurance, low noise, etc. However, due to its lower speed relative to the ocean current, the surfacing positioning point (SPP) of an UG often drifts greatly away from the preset waypoint. Therefore, this paper proposes a new combination model for predicting the SPP at different time scales. First, the kinematic model and working flow of the Petrel-L glider is analyzed. Then, this paper introduces the principles of a newly proposed combination model which integrates single prediction models with optimal weight. Afterwards, to make an accurate prediction, ocean current data are interpolated and averaged according to the diving depth of UGs as an external influencing factor. Meanwhile, with sea trial data collected in the northern South China Sea by Petrel-L, which had a total range of 4230.5 km, SPPs are predicted using single prediction models at different time scales, and the combination weights are derived with a novel simulated annealing optimized Frank–Wolfe method. Finally, the evaluated results demonstrate that the MAE and MSE are 966 m and 969 m, which proves that the single models achieved good performance under specified situations, and the combination model performed better at full scale because it integrates the advantages of the single models. Furthermore, the predicted SPPs will be helpful in the dead reckoning of the UG, and the proposed new combination method could extend into other fields for prediction. Full article

(This article belongs to the Special Issue Marine Autonomous Vehicles: Design, Test and Operation)

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