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Conference Poster Year : 2014

Hybrid coordination strategy for systematic and detailed optical acquisition of the seabed by a group of robots

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Abstract

In the underwater environment, the needs of data acquisitionhave significantly increased over the last decades. Aselectromagnetic waves show poor propagation in sea water,acoustical sensing is generally preferred. However, the emergenceof small and low cost autonomous underwater vehicles(AUV) allow for rethinking the underwater use of opticalsensors as their small coverage can be significantly improvedby using a fleet of coordinated underwater robots. This paperpresents a strategy to coordinate the group of robotsin order to systematically survey the seabed to detect smallobjects or singularities. The proposed hybrid coordinationstrategy is defined by two main modes. The first mode relieson a swarm algorithm to organize the team in geometricalformation. In the second mode, the robot formation is maintainedusing a hierarchical coordination. A finite state machinecontrols the high level hybrid strategy by defining theappropriate coordination mode according the evolution ofthe mission. Before at sea validation, the behavior and theperformance of the hybrid coordination strategy are first assessedin simulation. The control of individual robots relieson visual servoing, implemented with the OpenCV library,and the simulation tool is based on Blender software. Thedynamics of the robots has been implemented in a realisticway in Blender by using the Bullet solver and the hydrodynamiccoeficcients estimated on the actual robot. Thispaper presents and discusses the first results of the hybridcoordination strategy applied on a fleet of 3 AUV’s.
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Dates and versions

hal-01121895 , version 1 (02-03-2015)

Identifiers

Cite

Seifallah Ben Saad, Benoit Zerr, Irvin Probst, Frédéric Dambreville. Hybrid coordination strategy for systematic and detailed optical acquisition of the seabed by a group of robots. WUWnet ’14, Nov 2014, Rome, Italy. 2014, WUWnet ’14. ⟨10.1145/2671490.2677094⟩. ⟨hal-01121895⟩
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