Formation Control of Multiple AUVs for Moth-Inspired Plume Tracing

This paper presents a novel strategy for multiple autonomous underwater vehicles (AUVs) to trace a chemical plume and to identify its source location in a simulated fluid-advected environment with scales of 100 meters. First, we develop a coordination mechanism for selecting a leader among multiple AUVs which performs moth-inspired plume tracing. Second, we use a formation algorithm to control non-leader AUVs to follow the leader AUV during chemical plume tracing (CPT) missions. We evaluate the proposed strategy using a simulated plume with significant filament intermittency and meander. The studies show that, in comparison with a single moth-inspired AUV tracer, the multiple AUVs significantly reduce the time cost for tracing the plume toward its source and identifying the source location, and improve the accuracy of the declared source locations.

[1]  Nidhi Kalra,et al.  Market-Based Multirobot Coordination: A Survey and Analysis , 2006, Proceedings of the IEEE.

[2]  Wei Li.  Abstraction of Odor Source Declaration Algorithm from Moth-Inspired Plume Tracing Strategies , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[3]  D.L. Odell,et al.  Two-hydrophone heading and range sensor applied to formation-flying for AUVs , 2004, Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600).

[4]  Wei Li,et al.  Please Scroll down for Article Applied Bionics and Biomechanics Identifying an Odour Source in Fluid-advected Environments, Algorithms Abstracted from Moth-inspired Plume Tracing Strategies Identifying an Odour Source in Fluid-advected Environments, Algorithms Abstracted from Moth-inspired Plume Tra , 2022 .

[5]  J.A. Farrell,et al.  Chemical plume tracing via an autonomous underwater vehicle , 2005, IEEE Journal of Oceanic Engineering.

[6]  Rajgopal Kannan,et al.  Efficient Protocols for Integrated Communication and Formation Control in UUV Task Forces , 2003 .

[7]  J. Farrell,et al.  Filament-Based Atmospheric Dispersion Model to Achieve Short Time-Scale Structure of Odor Plumes , 2002 .

[8]  Pan Ying.  Simulation of Autonomous Underwater Vehicles Formation Control Based on Simulink and VRML , 2007 .

[9]  Maja J. Mataric,et al.  Sold!: auction methods for multirobot coordination , 2002, IEEE Trans. Robotics Autom..

[10]  G. Cardew,et al.  Olfaction in mosquito-host interactions , 1996 .

[11]  Toshimitsu Tanaka,et al.  Collaboration among a group of self-autonomous mobile robots with diversified personalities , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[12]  R.W. Wall,et al.  Robust control of a platoon of underwater autonomous vehicles , 2004, Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600).

[13]  D.L. Odell,et al.  A leader-follower algorithm for multiple AUV formations , 2004, 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578).

[14]  Jay A. Farrell,et al.  Moth-inspired chemical plume tracing on an autonomous underwater vehicle , 2006, IEEE Transactions on Robotics.

[15]  Edward A. Fiorelli,et al.  Cooperative vehicle control, feature tr acking, and ocean sampling , 2005 .

[16]  W. Li,et al.  Development of CPT_M3D for Multiple Chemical Plume Tracing and Source Identification , 2008, 2008 Seventh International Conference on Machine Learning and Applications.

[17]  Guangwen Li,et al.  Formation Control and Obstacle Avoidance Algorithm of Multiple Autonomous Underwater Vehicles(AUVs) Based on Potential Function and Behavior Rules , 2007, 2007 IEEE International Conference on Automation and Logistics.

[18]  Coby Schal,et al.  Pheromone puff trajectory and upwind flight of male gypsy moths in a forest , 1987 .

[19]  R T Cardé,et al.  Odour plumes and odour-mediated flight in insects. , 2007, Ciba Foundation symposium.