《水下滑翔机自适应覆盖采样》.pdfVIP

34 5 ROBOT Vol.34, No.5 2012 9 Sep., 2012 DOI 10.3724/SP.J.1218.2012.00566 12 1 1 1. 110016 2. 310012 Voronoi Voronoi TP24; A 1002-0446(2012)-05-0566-08 Adaptive Coverage Sampling of Underwater Glider ZHU Xinke12 YU Jiancheng1 WANG Xiaohui1 (1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. The Second Institute of Oceanography, State Oceanic Administration, Laboratory of Submarine Geosciences, Hangzhou 310012, China) 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. Keywords: underwater glider; cove