Formation Evaluation of Multi-AUV System for Deep-Sea Hydrothermal Plume Exploration

Author

Kang, Xiaodong ; Xu, Hongli ; Feng, Xisheng ; Tian, Yu

Author_Institution

Robot. State Key Lab., Chinese Acad. of Sci., Shenyang, China

Volume

1

fYear

2009

fDate

26-27 Aug. 2009

Firstpage

256

Lastpage

261

Abstract

This paper proposes an index system for the formation performance evaluation of multiple autonomous underwater vehicles (multi-AUV) in deep-sea hydrothermal plume exploration. Firstly the formation evaluation criteria and the essentiality of the application of analytic hierarchy process (AHP) and Fuzzy comprehensive evaluation method (Fuzzy-AHP method) are introduced. Then the index system is established based on AHP method and a judgment matrix is constructed, and the weight of each index is calculated as well with the help of AHP method. Thirdly we present the normalized model of the evaluation index, analyze the fuzzy comprehensive evaluation model. At last we debate the method to calculate the membership matrix in detail and illustrate the application of the Fuzzy-AHP method in the formation performance evaluation of multi-AUV system in deep-sea hydrothermal plume exploration.

Keywords

decision making; fuzzy set theory; mobile robots; motion control; multi-robot systems; position control; remotely operated vehicles; underwater vehicles; analytic hierarchy process; deep-sea hydrothermal plume exploration; evaluation index; formation performance evaluation; fuzzy AHP method; fuzzy comprehensive evaluation method; judgment matrix; membership matrix; multiAUV system; multiple autonomous underwater vehicles; Chemical analysis; Communication system control; Intelligent robots; Intelligent systems; Performance evaluation; Remotely operated vehicles; Robotics and automation; Springs; Underwater vehicles; Vents; Multi-AUV system; analytic hierarchy process; deep-sea hydrothermal plume exploration; formation evaluation; fuzzy comprehensive evaluation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Human-Machine Systems and Cybernetics, 2009. IHMSC '09. International Conference on

Conference_Location

Hangzhou, Zhejiang

Print_ISBN

978-0-7695-3752-8

Type

conf

DOI

10.1109/IHMSC.2009.72

Filename

5336180