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Reliability analysis for mutative topology structure multi-AUV cooperative system based on interactive Markov chains model

Published online by Cambridge University Press:  17 August 2016

Qingwei Liang ,
Tianyuan Sun  and
Liang Shi
Qingwei Liang*
Affiliation:
College of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, 710072, Shaanxi, P. R. China. E-mail: 309250030@qq.com
Tianyuan Sun
Affiliation:
The 32th Research Institute of China Electronic Technology Group Corporation, Shanghai, 200233, P. R. China. E-mail: t.y.sun@163.com
Liang Shi
Affiliation:
College of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, 710072, Shaanxi, P. R. China. E-mail: 309250030@qq.com
*
*Corresponding author. E-mail: liangqingwei@nwpu.edu.cn.
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Summary

In the real practice of multi-AUV (Autonomous Underwater Vehicle) cooperative systems, tasks or malfunctions will change the topology. The process of mutative topology structure will affect the reliability of multi-AUV cooperative system. The interactive Markov chains model, which is an intercurrent model of functional action and capability index, is selected to reflect the reliability of topology-changed multi-AUV cooperative systems. In this model, multi-AUV cooperative systems are described by the conception—“Action”. The concept of “action transfer” is used to describe the topology-changed multi-AUV cooperative system, and model checking is used to solve the interactive Markov chains, giving the probability of reliability within a certain time for the system. The result shows that the method proposed in this paper has a practical value.

Keywords

Multi-AUV cooperative systemReliabilityMutative topology structureInteractive Markov chains model
Type
Articles
Information
Robotica , Volume 35 , Issue 8 , August 2017 , pp. 1761 - 1772
Copyright
Copyright © Cambridge University Press 2016 

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