Multi-AUG three-dimensional path planning and secure cooperative path following under DoS attacks

This article is concerned with the design of a three-dimensional path planning and secure event-triggered cooperative path following for multiple disk-type autonomous underwater gliders (AUGs) in the presence of underwater obstacles and denial-of service (DoS) attacks. A three-dimensional collision-...

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Veröffentlicht in:Ocean engineering 2023-04, Vol.274, p.113864, Article 113864
Hauptverfasser: Wang, Haoliang, Lu, Liyu, Li, Tieshan, Wang, Anqing
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Sprache:eng
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Zusammenfassung:This article is concerned with the design of a three-dimensional path planning and secure event-triggered cooperative path following for multiple disk-type autonomous underwater gliders (AUGs) in the presence of underwater obstacles and denial-of service (DoS) attacks. A three-dimensional collision-free path planning method is firstly proposed by using a quantum-behaved adaptive particle swarm optimization method in the global path planning layer and an artificial potential field method in the local path planning layer. Secondly, a path variable update law is devised based on a three-dimensional line-of-sight guidance mechanism, which can achieve the cooperative control for networked AUGs, in addition, AUGs can stop at the target points automatically. Finally, an event-triggered mechanism is presented to achieve secure cooperative control for AUGs under the unreliable network environment in the presence of DoS attacks. The stability is validated based on the input-to-state stability theory. Simulation results and numerical analysis demonstrate the effectiveness of the proposed integrated three-dimensional collision-free path planning and secure event-triggered cooperative path following method. •A 3D collision-free path planning method is designed for AUGs.•A 3D LOS guidance mechanism is designed for the cooperative control of AUGs.•A secure event-triggered mechanism is constructed for AUGs under DoS attacks.
ISSN:0029-8018
DOI:10.1016/j.oceaneng.2023.113864