Cooperative caging and transport using autonomous aquatic surface vehicles

作者：Arrichiello Filippo^*; Heidarsson Hordur K; Chiaverini Stefano; Sukhatme Gaurav S

来源：Intelligent Service Robotics, 2012, 5(1): 73-87.

DOI：10.1007/s11370-011-0104-9

• Marine robotics
• Cooperative control
• Cooperative caging
• Field robotics

We present a study on the cooperative control of two autonomous surface vehicles performing a caging and transport mission on the water surface. The two vehicles, connected to each other by means of a floating flexible rope, are required to capture a floating target from a given location, and transport it to a designated position. We focus on the coordination and control strategy to meet these requirements, and on its implementation on two under-actuated vehicles. We describe a multi-layered control architecture which achieves the goal, followed by simulation studies and field experiments with the two vehicles caging and transporting a floating target on the surface of a lake.

• 出版日期2012-1