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Leader-Based Flocking of Multiple Swarm Robots in Underwater Environments.

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Summary

This study introduces novel underwater flocking controls for swarm robots led by a single leader. The system ensures safe navigation around unknown obstacles while maintaining robot communication in challenging marine environments.

Keywords:

communication connectivity flocking control leader-based controls local interaction networked system underwater cluttered environment underwater sensor networks

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Area of Science:

Robotics
Artificial Intelligence
Marine Engineering

Background:

Underwater environments present unique challenges for robotic systems, including limited communication and unknown obstacles.
Coordinated movement, or flocking, is essential for swarm robots to perform complex tasks efficiently.
Maintaining communication links is critical for the operational success of underwater robot swarms.

Purpose of the Study:

To develop and validate a novel flocking control strategy for multiple swarm robots operating underwater.
To enable a swarm of robots to navigate towards a goal while avoiding collisions with unknown 3D obstacles.
To ensure persistent communication connectivity among robots throughout the mission.

Main Methods:

Proposed a flocking control system utilizing a single leader robot with global positioning capabilities.
Implemented proximity sensing, such as Ultra-Short BaseLine acoustic positioning (USBL), for inter-robot relative positioning.
Developed a rendezvous mechanism for robots to gather at the leader to enhance communication connectivity when needed.
Validated the control strategy through MATLAB simulations in complex underwater environments with numerous obstacles.

Main Results:

The proposed flocking controls successfully guided multiple robots within a 3D virtual sphere.
Communication connectivity was maintained among robots in cluttered underwater environments.
The leader robot effectively herded the swarm towards the goal while ensuring collision avoidance.
Simulations demonstrated the system's robustness in environments with a priori unknown obstacles.

Conclusions:

The developed underwater flocking control strategy, led by a single robot, enables safe and coordinated navigation for swarm robots.
This approach addresses the critical challenges of obstacle avoidance and communication maintenance in complex underwater settings.
The findings represent a novel contribution to the field of multi-robot systems operating in challenging aquatic environments.