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CLC number: TP273

On-line Access: 2019-07-08

Received: 2017-11-07

Revision Accepted: 2018-09-04

Crosschecked: 2019-06-11

Cited: 0

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Citations:  Bibtex RefMan EndNote GB/T7714


Jiu-cai Jin


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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.6 P.751-759


A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle

Author(s):  Jiu-cai Jin, Jie Zhang, Zhi-chao Lv

Affiliation(s):  First Institute of Oceanography, Ministry of Natural Resources, Qingdao 266061, China; more

Corresponding email(s):   jinjiucai@fio.org.cn

Key Words:  Unmanned surface vehicle, Data collection, Underwater acoustic communication, Gradient climbing, Extremum seeking

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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.

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author="Jiu-cai Jin, Jie Zhang, Zhi-chao Lv",
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publisher="Zhejiang University Press & Springer",

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%I Zhejiang University Press & Springer
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T1 - A novel gradient climbing control for seeking the best communication point for data collection from a seabed platform using a single unmanned surface vehicle
A1 - Jiu-cai Jin
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J0 - Frontiers of Information Technology & Electronic Engineering
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.1700732

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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