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Poster
Hybrid coordination strategy for systematic and detailed optical acquisition of the seabed by a group of robots
Abstract : In the underwater environment, the needs of data acquisition
have significantly increased over the last decades. As
electromagnetic waves show poor propagation in sea water,
acoustical sensing is generally preferred. However, the emergence
of small and low cost autonomous underwater vehicles
(AUV) allow for rethinking the underwater use of optical
sensors as their small coverage can be significantly improved
by using a fleet of coordinated underwater robots. This paper
presents a strategy to coordinate the group of robots
in order to systematically survey the seabed to detect small
objects or singularities. The proposed hybrid coordination
strategy is defined by two main modes. The first mode relies
on a swarm algorithm to organize the team in geometrical
formation. In the second mode, the robot formation is maintained
using a hierarchical coordination. A finite state machine
controls the high level hybrid strategy by defining the
appropriate coordination mode according the evolution of
the mission. Before at sea validation, the behavior and the
performance of the hybrid coordination strategy are first assessed
in simulation. The control of individual robots relies
on visual servoing, implemented with the OpenCV library,
and the simulation tool is based on Blender software. The
dynamics of the robots has been implemented in a realistic
way in Blender by using the Bullet solver and the hydrodynamic
coeficcients estimated on the actual robot. This
paper presents and discusses the first results of the hybrid
coordination strategy applied on a fleet of 3 AUV’s.
https://hal.archives-ouvertes.fr/hal-01121895
Contributeur : Annick Billon-Coat <>
Soumis le : lundi 2 mars 2015 - 17:18:44
Dernière modification le : mercredi 24 juin 2020 - 16:19:29
Contributeur : Annick Billon-Coat <>
Soumis le : lundi 2 mars 2015 - 17:18:44
Dernière modification le : mercredi 24 juin 2020 - 16:19:29