Guidance Algorithms for Multiple Cooperatiye Autonomous Aquatic Vehicles

摘要

A fleet of Autonomous Surface Vehicles (ASVs) has been created at Louisiana State University in the Department of Biological & Agricultural Engineering. These robotic devices operate on the surface of water bodies and have been used to reduce bird predation on aquaculture ponds, gather floating biomass, and collect environmental data. Previous research has focused on single ASVs performing given tasks. Examples of this type of research are discussed including a single ASV measuring the depth of the surface of the sediment beneath the water's surface with an accuracy of <1 cm and a single ASV patrolling an aquaculture pond and scaring predatory birds away. After a brief introduction into single ASV guidance algorithms and some of the difficulties that occur in this relatively simple environment, this paper examines the complex issues that arise when performing guidance planning for multiple vehicles on a single body of water. Trials where the ASVs are acting independently with no ability to communicate with each other while performing a task are compared with trials where the ASVs are acting in a cooperative manner (with inter-vehicle communications) to collectively perform the task are discussed. Specific applications considered include mapping ofwater quality parameters; capture of aquatic plant biomass and tracking of pollutant gradients in water bodies. Each of these are important and in each case, multivehicle cooperation can enhance the speed or efficiency of success in the given task, allowing enhanced sustainability in environmental and water systems.