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Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Strategic Study of CAE 2020, Volume 22, Issue 6,   Pages 26-31 doi: 10.15302/J-SSCAE-2020.06.004

Abstract: This study aims to propose a technical system layout for the autonomous underwater vehicles (AUVs) developmentefforts on breakthroughs in key technologies including perception, communication/navigation, energy, autonomous

Keywords： deep-sea exploration     autonomous underwater vehicles     development trend     key technologies     fundamental    

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Extended model predictive control scheme for smooth path following of autonomous vehicles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 4-4 doi: 10.1007/s11465-021-0660-4

Abstract: presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomousvehicles, which has multiple constraints and an integrated model of vehicle and road dynamics.constraints, which can improve the path following quality for better ride comfort and road availability of autonomousvehicles.

Keywords： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization    

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Engineering doi: 10.1016/j.eng.2023.10.001

Abstract: This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs

Keywords： Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

Engineering doi: 10.1016/j.eng.2023.10.005

Abstract: While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthinessof decision-making remains a substantial challenge in realizing autonomous driving.vehicles.Moreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent duringThese results indicate that the autonomous driving agent can make trustworthy decisions and drastically

Keywords： Autonomous vehicle     Decision-making     Reinforcement learning     Adversarial attack     Safety guarantee    

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Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment Special Feature on Intelligent Robats

Da-qi ZHU, Yun QU, Simon X. YANG

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 330-341 doi: 10.1631/FITEE.1800562

Abstract:

There is an ocean current in the actual underwater working environment.An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles(AUVs) is proposed for a three-dimensional underwater workspace in the ocean current.

Keywords： Autonomous underwater vehicles     Self-organizing neural networks     Azimuths     Ocean current    

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From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Strategic Study of CAE 2000, Volume 2, Issue 12,   Pages 29-33

Abstract:

A clear definition and a very fine classification of the unmanned undersea vehicles are given in thisthat the autonomous underwater vehicles at present is a hot spot in the research realm of the unmannedundersea vehicles.descriptions of the first remotely operated tethered vehicle “HR- 01” in China, the first autonomousunderwater vehicle “Explorer” and the autonomous underwater vehicle CR-01 (6 000 m).

Keywords： undersea vehicles     ROV     AUV     ocean engineer     ocean resources exploration    

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Towards the Unified Principles for Level 5 Autonomous Vehicles Article

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Engineering 2021, Volume 7, Issue 9,   Pages 1313-1325 doi: 10.1016/j.eng.2020.10.018

Abstract:

The rapid advance of autonomous vehicles (AVs) has motivated new perspectives and potential challengesautomation level and vehicle intelligence, these systems
can be further advanced towards fully autonomousThe essential logical
and physical mechanisms of vehicles have hindered further progression towardsBy exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essencemode relying on the crow inference and parrot imitation approach, we explore the research paradigm of autonomous

Keywords： Autonomous vehicle     Principle of least action     Driving safety field     Autonomous learning     Basic paradigm    

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Robust global route planning for an autonomous underwater vehicle in a stochastic environment Research Article

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 11,   Pages 1658-1672 doi: 10.1631/FITEE.2200026

Abstract:

This paper describes a route planner that enables an to selectively complete part of the predetermined tasks in the operating ocean area when the local path cost is stochastic. The problem is formulated as a variant of the . Based on the (GA), we propose the greedy strategy based GA (GGA) which includes a novel rebirth operator that maps infeasible individuals into the feasible solution space during evolution to improve the efficiency of the optimization, and use a differential evolution planner for providing the deterministic local path cost. The uncertainty of the local path cost comes from unpredictable obstacles, measurement error, and trajectory tracking error. To improve the robustness of the planner in an uncertain environment, a sampling strategy for path evaluation is designed, and the cost of a certain route is obtained by multiple sampling from the probability density functions of local paths. Monte Carlo simulations are used to verify the superiority and effectiveness of the planner. The promising simulation results show that the proposed GGA outperforms its counterparts by 4.7%–24.6% in terms of total profit, and the sampling-based GGA route planner (S-GGARP) improves the average profit by 5.5% compared to the GGA route planner (GGARP).

Keywords： Autonomous underwater vehicle     Route planning     Genetic algorithm     Orienteering problem     Stochastic path    

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Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning Research Article

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1,   Pages 131-140 doi: 10.1631/FITEE.2200128

Abstract: Ensuring the safety of s is essential and challenging when are involved. Classical avoidance strategies cannot handle uncertainty, and learning-based methods lack performance guarantees. In this paper we propose a (HRL) approach for to safely interact with s behaving uncertainly. The method integrates the rule-based strategy and reinforcement learning strategy. The confidence of both strategies is evaluated using the data recorded in the training process. Then we design an activation function to select the final policy with higher confidence. In this way, we can guarantee that the final policy performance is not worse than that of the rule-based policy. To demonstrate the effectiveness of the proposed method, we validate it in simulation using an accelerated testing technique to generate stochastic s. The results indicate that it increases the success rate for avoidance to 98.8%, compared with 94.4% of the baseline method.

Keywords： Pedestrian     Hybrid reinforcement learning     Autonomous vehicles     Decision-making    

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Steering control for underwater gliders Article

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 7,   Pages 898-914 doi: 10.1631/FITEE.1601735

Abstract: Steering control for an autonomous underwater glider (AUG) is very challenging due to its changing dynamic

Keywords： Autonomous underwater glider (AUG)     Online system identification     Steering control     Adaptive control    

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Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques Review

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

Engineering 2023, Volume 28, Issue 9,   Pages 26-48 doi: 10.1016/j.eng.2023.01.012

Abstract: vehicle-to-vehicle (V2V) communication, autonomizing a vehicle platoon can significantly reduce the distance between vehicles

Keywords： Autonomous vehicle platoon     Autonomous driving     Connected and automated vehicles     Scheduling and planning    

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Turbidity-adaptive underwater image enhancement method using image fusion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-021-0669-8

Abstract: Clear, correct imaging is a prerequisite for underwater operations.Most of the existing underwater imaging methods focus on relatively clear underwater environment, itis uncertain that if those methods can work well in turbid and dynamic underwater environments.In this paper, we propose a turbidity-adaptive underwater image enhancement method.The proposed method is verified by an underwater image dataset captured in real underwater environment

Keywords： turbidity     underwater image enhancement     image fusion     underwater robots     visibility    

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Design and construction technology of underwater tunnel

Wang Mengshu

Strategic Study of CAE 2009, Volume 11, Issue 7,   Pages 4-10

Abstract: text-align: justify;">It is briefly introduced that when passing over or crossing rivers, lakes and seas, underwaterof design and construction, key construction technology and frequently-used construction method of underwater

Keywords： underwater tunnel     design     construction    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 6,   Pages 1350-1362 doi: 10.1007/s11709-019-0559-x

Abstract: experiments and numerical studies are conducted to investigate the effect of shock loads due to an underwaterNumerical simulations with three different models of pressure time history generated by underwater explosionThe second model to predict the time history of shock wave pressure from an underwater explosion was

Keywords： underwater explosion     centrifuge experiment     shock load     dynamic response     accumulated shock impulse    

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Title Author Date Type Operation

Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Journal Article

Extended model predictive control scheme for smooth path following of autonomous vehicles

Journal Article

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Journal Article

Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

Journal Article

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

Da-qi ZHU, Yun QU, Simon X. YANG

Journal Article

From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Journal Article

Towards the Unified Principles for Level 5 Autonomous Vehicles

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Journal Article

Robust global route planning for an autonomous underwater vehicle in a stochastic environment

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Journal Article

Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Journal Article

Steering control for underwater gliders

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

Journal Article

Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

Journal Article

Turbidity-adaptive underwater image enhancement method using image fusion

Journal Article

Design and construction technology of underwater tunnel

Wang Mengshu

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Journal Article