Department of Ocean and Naval Architectural Engineering, Memorial University of Newfoundland, St. John's, NL A1B 3×7, Canada.
Department of Ocean and Naval Architectural Engineering, Memorial University of Newfoundland, St. John's, NL A1B 3×7, Canada.
J Hazard Mater. 2022 Aug 15;436:129039. doi: 10.1016/j.jhazmat.2022.129039. Epub 2022 Apr 30.
Adaptive control was applied to follower gliders in cooperating multiple glider teams on missions to delineate underwater oil patches. The influence of water currents on the motion of the oil patches was included. The cooperation strategy with adaptive control was compared with strategies without cooperation or adaptive control through simulation experiments. In addition, the optimal number of follower gliders in a team was assessed. From the simulations, strategies with adaptive control achieved a higher score of performance, defined as a measure of the percentage of valuable-rich information collected to the percentage of the mission area covered by information-rich patches; this measure was applied when the percentage of the area of information-rich patches was less than 60%. The cooperation strategy with adaptive control had a lower duty cycle and a longer mission duration, but had the best score of performance, especially for long-duration missions. Backseat driver hardware was installed on a Slocum glider to support adaptive control and a field experiment successfully realized cooperation between a simulated scout glider and the follower glider and the adaptive control of the follower. The experiment also indicated the limitations of timely completion of missions owing to the operating speed of the glider relative to that of ambient currents.
自适应控制被应用于在执行探测水下浮油任务的多架滑翔机协同小组中的跟随滑翔机上。该模型考虑了海流对浮油运动的影响。通过仿真实验，比较了具有自适应控制的协同策略与没有协同或自适应控制的策略。此外，还评估了团队中跟随滑翔机的最佳数量。从模拟结果来看，具有自适应控制的策略实现了更高的性能评分，该评分定义为收集有价值的丰富信息的百分比与信息丰富的浮油区域覆盖的百分比的度量；当信息丰富的浮油区域的百分比小于 60%时，应用该度量。具有自适应控制的协同策略具有更低的占空比和更长的任务持续时间，但具有最佳的性能评分，特别是对于长时间任务。后座驱动硬件被安装在 Slocum 滑翔机上，以支持自适应控制，现场实验成功地实现了模拟侦察机滑翔机和跟随滑翔机之间的协同以及对跟随滑翔机的自适应控制。该实验还表明，由于滑翔机相对于环境海流的运行速度，任务有时难以按时完成。
