标题： 基于约束驱动的多水下航行器水域环境监测路径生成 显示英文标题

标题： Constraint-Driven Multi-USV Coverage Path Generation for Aquatic Environmental Monitoring

摘要： 在本文中，我们使用一组无人水面航行器（USVs）进行水下环境监测。 具体而言，我们开发了一个在线路径生成器，根据实时反馈提供圆形或椭圆形路径，从而使USVs在给定的水下环境中高效地采样传感器数据。 为此，我们首先将一类Dubins车辆的在线路径生成问题形式化为基于持续覆盖控制的代价最小化问题。 然后，我们将代价最小化转化为基于约束的规范，以确保规定的性能水平。 随后，基于所谓的基于约束的控制设计了一个在线覆盖路径生成器，以满足性能证书以及与指定路径参数相关的附加约束。 还表明，目前的基于约束的方法可以大幅减少由对应于USVs转向方向的二进制变量组合所产生的计算复杂性。 最后，通过多个USVs的原始测试平台上的仿真和实验验证了当前的覆盖路径生成器。 显示英文摘要

摘要： In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either of circular or elliptic paths based on the real-time feedback so that the USVs efficiently sample the sensor data over given aquatic environment. To this end, we begin by formulating a novel online path generation problem for a group of Dubins vehicles in the form of cost minimization based on the formulation of persistent coverage control. We then transform the cost minimization into a constraint-based specification so that a prescribed performance level is certified. An online coverage path generator is then designed based on the so-called constraint-based control in order to meet the performance certificate together with additional constraints inherent in the parameters that specify the paths. It is also shown there that the present constraint-based approach allows one to drastically reduce the computational complexity stemming from combinations of binary variables corresponding to the turning directions of the USVs. The present coverage path generator is finally demonstrated through simulations and experiments on an original testbed of multiple USVs.