Abstract
Amphibious Spherical Robots (ASRs) use an electric field to communicate and collaborate effectively in a turbid water of confined spaces where other mode communication modalities failed. This paper proposes an embedded architecture formation strategy for a group of turtle-inspired amphibious robots to maintain a long distance-parameterized path based on dynamic visual servoing. Inspired by this biological phenomenon, we design an artificial multi-robot cooperative mode and explore an electronic communication and collaborate devices, the control method is based in particular on underwater environment and also conduct a detailed analysis of control motion module. The objectives of control strategies are divided into four categories: The first strategy is that the leader robot controls the action of the overall robots to maintain collaborate together during motion along a desired geometric path and to follow a timing law that the communication efficiency and the arrival times to assigned sites. Furthermore, we design an adaptive visual servoing controller for trajectory tracking task, taking into account system dynamics with environment interactions. After that, the third strategy is a centralized optimization algorithm for the redistribution of target mission changes. Finally, this paper also proposes a new method of control strategies in order to guarantee that each robot in the team moves together according to the preset target toward its location in the group formation based on communication and stability modules.
Highlights
With the increasing extensive requirements of high maneuverability, long duration, energy-saving and even stealth for Autonomous Underwater Vehicle (AUV), many kinds of bio-inspired amphibious robots based on ideas of biological systems, such as fishes, snakes, crabs, whales, turtles and other reference animals [1,2,3,4,5,6,7,8], which have showed better characteristics for adapting to underwater, terrestrial and aerial environments
This study has mainly focused on dynamic performance, locomotion control, and swimming efficiency to improve the flexibility and stability of amphibious spherical robots
An auction-based on initialize formation planning method with time-optimal route plan is proposed, usable the formation problem has been transformed to task allocation problem, that is, the Amphibious Spherical Robots (ASRs) in follower roles bid for the position when the robot in the queue is damaged or detached from the formation
Summary
With the increasing extensive requirements of high maneuverability, long duration, energy-saving and even stealth for Autonomous Underwater Vehicle (AUV), many kinds of bio-inspired amphibious robots based on ideas of biological systems, such as fishes, snakes, crabs, whales, turtles and other reference animals [1,2,3,4,5,6,7,8], which have showed better characteristics for adapting to underwater, terrestrial and aerial environments. A study on multiple amphibious spherical robots for collaboration and task planning based on dynamic visual servoing is presented, we introduce related research on various approaches in collaboration and task assignment control strategies. The problem of underwater communication efficiency is the theoretical basis for the realization of the multi-robot cooperation and collaboration. This paper proposed a new type amphibious robot contained communicate and collaborate modules and designed a novel formation control method, which means the problem of controlling the relative position and orientation in a group according to some desired pattern for executing a given task. ASRs needs a complete vision acquisition device to perform complex underwater tasks, this paper demonstrates the first try on uncalibrated visual tracking control of the amphibious spherical robot in an underwater environment. Of 40 bit/s, the acoustic radiation pattern is approximately omni directional and the MDM will operate in both lateral and longitudinal posture
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
