An A Priori Planning of Joint Motions for USV as a Problem of Guaranteed Control/Estimation / Kruglikov Sergey V.,Kruglikov Alexey S. // . - 2014. - V. 494-495, l. . - P. 1110+.

ISSN/EISSN:

1660-9336 / нет данных

Type:

Proceedings Paper

Abstract:

Navigation and routes planning for a group of unmanned surface vessels (USV) jointly moving in complex environment, including circumvention of seashore and islands, are important applications of computer-based decision-making support systems. A group of objects as an open complex system includes several hierarchy levels and may be controlled by a decision-maker supported by information-analytical software and methodical maintenance. Planning, as a stage of management, includes an a priori phase guidance for all objects in the group, coordinated in both time and directions of approach to the target set restricted by a set of obstacles. A discrete system of priorities reflects relative preferences of importance and allows choosing routes optimal in different senses. One can formalize such tasks in terms of different mathematical models including control problems of formation motion, theory of extreme networks and interval analysis. The paper bases on guaranteed approach to control of dynamic objects under uncertainty. Unified mathematical descriptions of shores, routes of individual objects and the whole group may be given in terms of hierarchic (i)-systems. This allows to reconcile data on geography, environment, object characteristics, peculiarities of control systems and data transmission, including sources and causes of uncertainty, and to describe movement of a group as an extreme problem of control and estimation. The results of computer simulation are considered. One may use similar models to explore economic aspects in application of heterogenic complex of autonomous surface and underwater vessels.

Author keywords:

hierarchical systems; co-operative control; optimal control and estimation; uncertainty; duality; control algorithms; unmanned surface vessels

DOI:

10.4028/www.scientific.net/AMM

Web of Science ID:

ISI:000338690800247

Соавторы в МНС:

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Другие поля

Поле	Значение
Editor	Shao, J and Zhang, YQ
Booktitle	CURRENT DEVELOPMENT OF MECHANICAL ENGINEERING AND ENERGY, PTS 1 AND 2
Series	Applied Mechanics and Materials
Note	International Symposium on Vehicle, Mechanical, and Electrical Engineering (ISVMEE 2013), Chung Hua Univ, Taiwan, PEOPLES R CHINA, DEC 21-22, 2013
Organization	Chung Hua Univ; Harbin Univ Sci \& Technol; NW Forestry Univ; Harbin Engn Univ
Publisher	TRANS TECH PUBLICATIONS LTD
Address	KREUZSTRASSE 10, 8635 DURNTEN-ZURICH, SWITZERLAND
Language	English
ISBN	978-3-03835-003-3
Research-Areas	Engineering; Materials Science; Mechanics
Web-of-Science-Categories	Engineering, Mechanical; Materials Science, Multidisciplinary; Mechanics
Author-Email	svk@imm.uran.ru a.s.kruglikov@ustu.ru
Funding-Acknowledgement	Russian Foundation for Basic Research {[}12-01-00043]; Collaboration Programme in fundamental research of Ural and Siberian Branches of Russian Academy of Sciences {[}12-II-1-1019]
Funding-Text	The research was partly supported by Russian Foundation for Basic Research (project.No 12-01-00043) and the Collaboration Programme (12-II-1-1019) in fundamental research of Ural and Siberian Branches of Russian Academy of Sciences ``Qualitative and numerical analysis of evolution equations and control systems{''}.
Number-of-Cited-References	6
Usage-Count-Last-180-days	1
Usage-Count-Since-2013	11
Doc-Delivery-Number	BA8UE