Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots

Abstract

Amphibious Spherical Robots (ASRs) use an electric field to communicate and collaborate effectively in a turbid water of confined spaces where other mode communication modalities failed. This paper proposes an embedded architecture formation strategy for a group of turtle-inspired amphibious robots to maintain a long distance-parameterized path based on dynamic visual servoing. Inspired by this biological phenomenon, we design an artificial multi-robot cooperative mode and explore an electronic communication and collaborate devices, the control method is based in particular on underwater environment and also conduct a detailed analysis of control motion module. The objectives of control strategies are divided into four categories: The first strategy is that the leader robot controls the action of the overall robots to maintain collaborate together during motion along a desired geometric path and to follow a timing law that the communication efficiency and the arrival times to assigned sites. Furthermore, we design an adaptive visual servoing controller for trajectory tracking task, taking into account system dynamics with environment interactions. After that, the third strategy is a centralized optimization algorithm for the redistribution of target mission changes. Finally, this paper also proposes a new method of control strategies in order to guarantee that each robot in the team moves together according to the preset target toward its location in the group formation based on communication and stability modules.

Reliable Robot-Flock-Based Monitoring System Design via A Mobile Wireless Sensor Network

“…Xie et al applied LF strategy to the field of new energy power generation, proposed a heliostats cluster control method to improve the control precision and reduce the control cost of solar tower power plants [36]. To prevent the complete disintegration of robot flock, Zheng et al proposed a bidding-based queue control strategy for spherical robot flock to improve the formation's invulnerability when the leader robot is damaged [37]. The accidents in the power cable tunnel creates extremely high temperature or humidity environment, and significantly increases damage probability of sensor nodes.…”

Cooperative Following of Multiple Autonomous Robots Based on Consensus Estimation

“…When multi-robots form a formation, each robot can be regarded as an agent; thus, the research on formation control is generally based on the coordinated control structure of the MAS [2,3] or the multi-robot control structure [4]. On the premise of coordinating the whole formation, the MAS also need to coordinate and deal with the dynamic relationship between all agents and judge and adjust their positions in the formation according to their position information, speed information and obstacle information [5][6][7][8][9][10][11][12]. Formation control involves making the actual state value of the agent gradually tend to the expected control value through control, which achieves the effect of convergence and stability.…”