Time-varying Constraint-driven Optimal Task Execution for Multiple Autonomous Underwater Vehicles

This letter focuses on the constraint-driven optimal control for multiple Autonomous Underwater Vehicles (AUVs). The different tasks are formulated as multiple constraints on optimization. First, the task goals are formulated by the time-varying control barrier functions. Then, a novel cost-to-const...

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Vydané v:IEEE robotics and automation letters Ročník 8; číslo 2; s. 1 - 8
Hlavní autori: Wang, Chenggang, Zhu, Shanying, Li, Bochen, Song, Lei, Guan, Xinping
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Piscataway IEEE 01.02.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Autonomous underwater vehicles
Behavioral sciences
Collision avoidance
concurrent task execution
constraint-driven optimization
control barrier functions
Cost function
Costs
Marine robotics
Mathematical analysis
Optimal control
Optimization
Quadratic programming
Slack variables
Target tracking
Task analysis
Time varying control
ISSN:2377-3766, 2377-3766
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Shrnutí:This letter focuses on the constraint-driven optimal control for multiple Autonomous Underwater Vehicles (AUVs). The different tasks are formulated as multiple constraints on optimization. First, the task goals are formulated by the time-varying control barrier functions. Then, a novel cost-to-constraint transformation method is proposed for time-varying tasks to achieve the high-order constraint-driven task execution under AUV dynamics. The priority of each task is adjusted by the maximum allowed limit of the slack variable, thus relaxing the task constraints and avoiding potential constraint conflicts. Finally, the collision-free optimal energy-aware task execution is achieved by a minimum input norm objective that is incorporated into computationally efficient quadratic programming, which is scalable to different task behaviors. Comparative numerical simulations considering time-varying trajectory tracking and cooperative coverage tasks validate the effectiveness of the proposed method.
Bibliografia:ObjectType-Article-1
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3231821