An Underwater Robotic Testbed for Multi-Vehicle Control

被引：0

作者：

Kitts, Christopher ^{[1
]}

Adamek, Thomas ^{[1
]}

Vlahos, Michael ^{[1
]}

Mahacek, Anne ^{[1
]}

Poore, Killian ^{[1
]}

Guerra, Jorge ^{[1
]}

Neumann, Michael ^{[1
]}

Chin, Matthew ^{[1
]}

Rasay, Mike ^{[1
]}

机构：

[1] Santa Clara Univ, Robot Syst Lab, Santa Clara, CA 95053 USA

来源：

2014 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES (AUV) | 2014年

关键词：

experimental testbed; underwater robot; cluster-space; multi-robot control; MULTIROBOT SYSTEMS;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

The PVC-ROV underwater robot testbed is a low-cost, three vehicle system designed to support research into multi-robot control techniques. Each vehicle is composed of a PVC frame with bilge-pump motors, a central microcontroller, and hobby-class sensing and power components. In addition, each vehicle is tethered to a surface buoy by a 15 meter tether and wirelessly exchanges data with an off-board, Matlab-based control program; an acoustic tracking system simultaneously tracks the position of each vehicle. Use of the testbed has begun with demonstration of two-vehicle cluster space control, a specific control technique developed by researchers in Santa Clara University's Robotic Systems Laboratory. This paper reviews the design of the PVC-ROV testbed and presents initial results in using the testbed to demonstrate the cluster control technique in an underwater environment.

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页数：8

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