Abstract
The main purpose of this article is to design efficient communication networks for the formation control of multiple distributed Unmanned Surface Vehicles (USVs). First, a hybrid communication network architecture, combining remote communication and wireless Ad hoc network technology is proposed. Second, an improved Low Energy Adaptive Clustering Hierarchy (LEACH) protocol is adopted to prolong the life cycle of the communication network of the USV fleet. Subsequently, some QoS indicators of the USV communication network are evaluated by establishing wireless network channel model and Signal to Interference and Noise Ratio (SINR) model. In particular, the packet error ratio, average time delay and connectivity under different formation architecture are investigated. Finally, some discussions and future work on the QoS of the USV communication network are concluded.
Highlights
With the development of intelligent technologies, the use of advanced marine equipment and systems [1,2,3,4,5,6], has been increased rapidly to accomplish missions in complex marine environments
As multi-agent’s formation is capable of accomplishing multiple tasks as compared to single agent with enhanced work efficiency [7,8,9], multi-unmanned surface vehicles formation can be applied in search and rescue, patrol and marine transportation
During the formation control of multi-Unmanned Surface Vehicles (USVs), inaccurate positions will be used if the positions cannot be updated timely, which is adverse against the formation control
Summary
With the development of intelligent technologies, the use of advanced marine equipment and systems [1,2,3,4,5,6], has been increased rapidly to accomplish missions in complex marine environments. As multi-agent’s formation is capable of accomplishing multiple tasks as compared to single agent with enhanced work efficiency [7,8,9], multi-unmanned surface vehicles (multi-USVs) formation can be applied in search and rescue, patrol and marine transportation. Formation control of multi-USVs is the basis of above application. For effective implementation of the multi-agent system, its formation control is considered to be the most challenging and meaningful domain. Various formation control strategies are available such as virtual piloting, leader-followers, behaviour-based, and graphbased [10]. The design and implementation of formation controller is based on the guaranteed communication networks. USVs network techniques have significant meanings for USVs formation control. In order to guarantee the real-time formation control of Unmanned Surface
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