标题： 面向水环境监测的约束驱动多USV覆盖路径生成 显示英文标题

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

摘要： 本文中，我们利用无人水面艇（USV）组成的舰队来解决水环境监测问题。具体而言，我们开发了一种在线路径生成器，能够根据实时反馈提供圆形或椭圆路径，从而使得USV能够在给定的水环境中高效地采集传感器数据。为此，我们首先以持久覆盖控制的代价最小化公式为基础，构建了一组Dubins车辆的新型在线路径生成问题。接着，我们将代价最小化问题转化为基于约束的规范，以确保达到规定的性能水平。然后，为了满足性能认证以及路径参数中固有的附加约束，设计了一个基于约束的在线覆盖路径生成器。此外，还证明了这种基于约束的方法可以极大地减少由USV转向方向对应的二元变量组合所带来的计算复杂度。最后，通过多艘USV的原始测试平台上的仿真和实验验证了该覆盖路径生成器的有效性。 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 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.