Coordination of multiple biomimetic autonomous underwater vehicles using strategies based on the schooling behaviour of fish

Mccolgan, J. and McGookin, E. W. (2016) Coordination of multiple biomimetic autonomous underwater vehicles using strategies based on the schooling behaviour of fish. Robotics, 5(1), 2. (doi: 10.3390/robotics5010002)

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Biomimetic Autonomous Underwater Vehicles (BAUVs) are Autonomous Underwater Vehicles (AUVs) that employ similar propulsion and steering principles as real fish. While the real life applicability of these vehicles has yet to be fully investigated, laboratory investigations have demonstrated that at low speeds, the propulsive mechanism of these vehicles is more efficient when compared with propeller based AUVs. Furthermore, these vehicles have also demonstrated superior manoeuvrability characteristics when compared with conventional AUVs and Underwater Glider Systems (UGSs). Further performance benefits can be achieved through coordination of multiple BAUVs swimming in formation. In this study, the coordination strategy is based on the schooling behaviour of fish, which is a decentralized approach that allows multiple AUVs to be self-organizing. Such a strategy can be effectively utilized for large spatiotemporal data collection for oceanic monitoring and surveillance purposes. A validated mathematical model of the BAUV developed at the University of Glasgow, RoboSalmon, is used to represent the agents within a school formation. The performance of the coordination algorithm is assessed through simulation where system identification techniques are employed to improve simulation run time while ensuring accuracy is maintained. The simulation results demonstrate the effectiveness of implementing coordination algorithms based on the behavioural mechanisms of fish to allow a group of BAUVs to be considered self-organizing.

Item Type:Articles
Additional Information:The financial support for the work completed in this paper has been provided by Engineering and Physical Sciences Research Council (EPSRC) through the award of a Doctoral Training Grant (DTG).
Glasgow Author(s) Enlighten ID:Mccolgan, Mr Jonathan and McGookin, Dr Euan
Authors: Mccolgan, J., and McGookin, E. W.
College/School:College of Science and Engineering > School of Engineering
Journal Name:Robotics
ISSN (Online):2218-6581
Published Online:14 January 2016
First Published:First published in Robotics 5(1):2
Publisher Policy:Reproduced under a Creative Commons licence

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