다개체 해파리 퇴치 로봇 시스템 JEROS의 편대 제어 실험

The drastic jellyfish overpopulation caused by global warming and the destruction of marine ecosystem, has resulted in severe damages to marine-related industries. To solve this problem, an autonomous jellyfish removal robot system, named JEROS (Jellyfish Elimination robotic Swarm), has been developed. In this paper, formation control of JEROS and related experimental results through field tests are presented. The JEROS is extended to multi-agent robot system and the leader-follower algorithm is embedded for the formation control. The Theta * path planning algorithm is employed to generate an efficient path. Three prototypes of JEROS are implemented, and the feasibility of their formation control and the performance of jellyfish removal were demonstrated through field tests in Masan Bay located in the southern coast of South Korea.