Article
Optics
Jintao Li, Xiaojun Cheng
Summary: This paper proposes a supervoxel-based method to automatically extract and classify individual pole-like objects from mobile laser scanning (MLS) point cloud data. The method efficiently extracts the pole-like objects and can effectively classify them into four categories based on their geometric characteristics. The experimental results demonstrate a high extraction rate of 92.4% and 98.6% for the two datasets, indicating the effectiveness of the proposed method.
OPTICS AND LASER TECHNOLOGY
(2022)
Article
Geochemistry & Geophysics
Jingmin Tu, Jian Yao, Li Li, Wenjie Zhao, Binbin Xiang
Summary: The proposed algorithm in this article extracts pole-like objects from mobile LiDAR data through plane filtering. It consists of two parts: the first part fits initial planes from off-ground points using an octree-based split scheme, while the second part extracts pole-like objects based on local geometric features and isolation detection. Experimental results show that the approach can robustly and efficiently extract pole-like objects in various scenes.
IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING
(2021)
Article
Environmental Sciences
Witold Kazimierski, Grzegorz Zaniewicz
Summary: The study focused on defining process noise in underwater target tracking, using Gaussian noise and Kalman filtering algorithms to estimate the target tracking state vector, verifying and comparing existing methods, and ultimately drawing conclusions.
Article
Chemistry, Analytical
Josue Gonzalez-Garcia, Alfonso Gomez-Espinosa, Luis Govinda Garcia-Valdovinos, Tomas Salgado-Jimenez, Enrique Cuan-Urquizo, Jesus Arturo Escobedo Cabello
Summary: This paper presents a model-free high-order sliding mode controller with finite-time convergence. The experimental results show that the proposed controller can drive the robot to the desired trajectories in a predefined time with reduced error and energy consumption compared to traditional PID controller and the same sliding mode controller with asymptotic convergence.
Article
Engineering, Marine
Hongxuan Chen, Guoyuan Tang, Shufeng Wang, Wenxuan Guo, Hui Huang
Summary: An adaptive fixed-time backstepping control method is proposed for achieving three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle (AUV) in the presence of model uncertainty and external disturbances. The dynamics of the AUV with five degrees of freedom (DOFs) are discussed, and a virtual velocity guidance law is derived using the backstepping method. The proposed control scheme demonstrates theoretical convergence of tracking error to a small bounded field within a fixed time, and simulation results verify its effectiveness and superiority.
Article
Engineering, Marine
Qunhong Tian, Tao Wang, Yuming Song, Yunxia Wang, Bing Liu
Summary: This paper presents a fuzzy controller based on the established kinematic and dynamic models of autonomous underwater vehicles (AUVs) to solve the AUV path-tracking problem. Multiple optimization performance indexes, including path length, smoothness, and cross-track position error, are selected to design the fuzzy controller for good performance. The particle swarm optimization (PSO) algorithm is proposed to determine the parameters of the membership functions. Different scenarios are tested to demonstrate the effectiveness and feasibility of the fuzzy controller with the optimization of multiple performance indexes.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Tianqi Xie, Ye Li, Yanqing Jiang, Shuo Pang, Xuefeng Xu
Summary: A three-dimensional mobile docking control method is proposed to control an underactuated autonomous underwater vehicle (AUV) to complete a mobile docking mission. It consists of a docking position estimation method, a control strategy with a switched guidance algorithm, and an observer-based backstepping sliding mode controller.
Article
Engineering, Marine
Bo Xu, Zhaoyang Wang, Weihao Li, Qiang Yu
Summary: In this paper, a navigation control integration framework based on communication-measurement union is proposed to solve the poor observability problem of underwater acoustic communication interactions. A control protocol based on distributed robust model predictive control is designed for efficient cooperation coordination between AUVs. The proposed control method can achieve formation-containment tracking even in the presence of external disturbances, as proven by the Lyapunov theory.
Article
Engineering, Civil
Yukiyasu Noguchi, Toshihiro Maki
Summary: This article introduces a method for tracking underwater structures using an AUV, based on stochastic means and utilizing commercial off-the-shelf sensors. It is suitable for surveying various underwater structures and is applicable to fast moving vehicles. The method has been successfully tested in both sea and tank environments, demonstrating its effectiveness in tracking rugged seafloors and vertical walls.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2021)
Article
Engineering, Marine
Jinjiang Li, Xianbo Xiang, Donglei Dong, Shaolong Yang
Summary: This paper addresses the trajectory tracking control problem of autonomous underwater vehicles with tracking error constraints and prescribed time convergence. It proposes a disturbance observer and an auxiliary dynamic system to achieve prescribed time disturbance attenuation and handle input saturation phenomenon, resulting in a robust tracking control scheme with both prescribed time convergence and transient performance constraints. Numerical simulation studies illustrate the superiority and benefits of the proposed algorithm.
Article
Chemistry, Multidisciplinary
Qinghe Zhang, Longchuan Guo, Md Abrar Hasan Sohan, Xiaoqing Tian
Summary: This paper addresses tracking control problems for autonomous underwater vehicle (AUV) systems with coupled nonlinear functions. For the first time, the radial basis function (RBF) is applied to the model reference adaptive control system, and the vehicle horizontal plane model is proposed. The AUV trajectory tracking problems are challenging due to the complex dynamics and external disturbances.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Electrical & Electronic
Baoju Wu, Xiaowei Han, Nanmu Hui
Summary: This paper studied the system and structural design of a novel autonomous underwater vehicle called Arctic AUV, including parameter identification design and control system design. By using a hybrid control scheme of adaptive PID and predictive control, accurate motion control of the Arctic AUV was achieved.
Article
Engineering, Electrical & Electronic
Ali Karmozdi, Mojtaba Hashemi, Hassan Salarieh, Aria Alasty
Summary: This paper presents a model-aided underwater navigation method that integrates vehicle dynamics model information to achieve data fusion of INS/Pseudo-DVL for addressing DVL outage. Experimental results show that despite a slight degradation in navigation performance, the proposed method effectively replaces expensive DVL sensors.
IEEE SENSORS JOURNAL
(2021)
Article
Automation & Control Systems
Zhongjiu Zheng, Ning Wang, Sara Ahmed
Summary: This paper proposes a decoupling control scheme bridging frequency tracking and DC output stabilizing for the underwater wireless charging system to address the issues of system detuning and reduced power transfer efficiency caused by small variations in parameters in harsh marine environments.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Engineering, Civil
Artur Wolek, James McMahon, Benjamin R. Dzikowicz, Brian H. Houston
Summary: This article describes the development and testing of a passive sonar, multitarget tracker, and adaptive behavior that enable an autonomous underwater vehicle (AUV) to detect and actively track nearby surface vessels. By repurposing a planar hull-mounted hydrophone array, the AUV can gather acoustic data and estimate the position and velocity of targets using a particle filter tracker. The tracking system is demonstrated through at-sea experiments.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2022)
