A convolutional neural network machine learning based navigation of underwater vehicles under limited communication

• Autorzy: Sahoo Sarada Prasanna , Pati Bibhuti Bhusan , Das Bikramaditya

Identyfikatory

DOI

10.24425/acs.2024.149671

• Języki publikacji: EN

Abstrakty

EN

This paper proposes navigation of multiple autonomous underwater vehicles (AUVs) by employing machine learning approach for wide area surveys in underwater environment. Wide area survey in underwater environment is affected by low data rate. We consider two AUVs moving in formation through clustering followed by selection of optimal path that is affected by low data rate and limited acoustical underwater communication. A state compression approach using machine learning based acoustical localization and communication (ML-ALOC) is proposed to overcome the low data rate issue in which AUV states are approximated by Hierarchical clustering followed by an optimal selection approach using Convolutional Neural Network (CNN). The performance of the proposed state compression algorithm is compared with particle state compression algorithm based on K-Means clustering at each iteration followed by Akaike information criterion (AIC) pursuing extensive simulations, in which two AUVs navigate through trajectory. It is observed from the simulations that the proposed ML-ALOC system provides better estimates when compared with acoustical localization and communication (ALOC) system using particle clustering for state compression scheme.

Słowa kluczowe

EN

Autonomous Underwater Vehicle; AUV; machine learning; hierarchical clustering; Convolutional Neural Network; CNN

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2024
• Tom: Vol. 34, No. 3
• Strony: 537--568
• Opis fizyczny: Bibliogr. 24 poz., rys., tab., wzory

Twórcy

autor

Sahoo Sarada Prasanna

• Department of Electrical Engineering, VSS University of Technology, Burla, India

autor

Pati Bibhuti Bhusan

• Department of Electrical Engineering, VSS University of Technology, Burla, India

autor

Das Bikramaditya

• Department of Electronics and Telecommunication Engineering, VSSUT Burla, Odisha, India
• Department of Electronics and Communication Engineering, CUPGS, BPUT, Rourkela, Odisha, India

• https://orcid.org/0000-0001-9734-806X

Bibliografia

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Uwagi

This work is supported by IIT Guwahati Technology Innovation and Development Foundation (IITG TI&DF), which has been set up at IIT Guwahati as a part of the National Mission on Interdisciplinary Cyber Physical Systems (NMICPS), with the financial assistance from Department of Science and Technology, India through grant number DST/NMICPS/TIH12/IITG/2020. Authors gratefully acknowledge the support provided for the present work.