We present a collaborative team of two under-actuated autonomous surface vessels (ASVs) that performs a cooperative navigation task while satisfying a communication constraint. Our approach is based on the use of a hierarchical control structure where a supervisory module commands each vessel to perform prioritized elementary tasks, a behavior-based controller generates motion directives to achieve the assigned tasks, and a maneuvering controller generates the actuator commands to follow the motion directives. The control technique has been tested in a mission where a set of target locations spread across a planar environment has to be visited once by either of the two ASVs while maintaining a relative separation less than a given maximum distance (to guarantee inter-ASV wireless communication). Experiments were carried out in the field with a team of two ASVs visiting 22 locations on a lake surface (approximately 30000 m2) with static obstacles. Results show a 30% improvement in mission time over the single-robot case.


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    Titel :

    Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs


    Beteiligte:


    Erscheinungsdatum :

    2010


    Format / Umfang :

    11 Seiten





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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