机器人2012，Vol.34Issue(5)：566-573,580,9.DOI:10.3724/SP.J.1218.2012.00566
水下滑翔机自适应覆盖采样
Adaptive Coverage Sampling of Underwater Glider
摘要
Abstract
An adaptive coverage sampling algorithm is proposed for solving the dynamic and unknown ocean phenomenon by underwater gliders. Firstly, the criterion for optimal coverage sampling is defined based on the centroidal Voronoi partition of the sampling space. Secondly, recursive least square with forgetting factor is used to estimate the parameters of ocean phenomenon online. Finally, the distributed control law is proposed, which can guarantee the sampling network composed of underwater gliders to converge to the optimal sampling network config defined from the random initial state. The simulation experiment is carried out to show the effectiveness of the proposed method. The results show that the proposed adaptive coverage sampling strategy has a better performance in the sampling of dynamic ocean phenomenon.关键词
水下滑翔机/覆盖采样/质心Voronoi图/加权最小二乘估计/自适应遗忘因子Key words
underwater glider/ coverage sampling/ centroidal Voronoi/ weighted least square estimation/ adaptive forgetting factor分类
信息技术与安全科学引用本文复制引用
朱心科,俞建成,王晓辉..水下滑翔机自适应覆盖采样[J].机器人,2012,34(5):566-573,580,9.基金项目
中科院知识创新工程资助项目(KZCX2-YW-JS205) （KZCX2-YW-JS205）
机器人学国家重点实验室课题(2009-Z05) （2009-Z05）
国家海洋局青年海洋科学基金资助项目(2011333) （2011333）
国家海洋局第二海洋研究所基本科研业务费专项资助项目(JT1001) （JT1001）
浙江省自然科学基金资助项目(LQ12D06002). （LQ12D06002）
