Title :
Obstacle avoidance for Multiple Unmanned Marine Vehicles (MUMVs) in close formation
Author :
Glotzbach, T. ; Schneider, M. ; Jacobi, M. ; Otto, P.
Author_Institution :
Inst. for Autom. & Syst. Eng., Ilmenau Univ. of Technol., Ilmenau, Germany
Abstract :
In this paper we demonstrate a method for obstacle avoidance of heterogeneous unmanned marine vehicle teams. The task is to find a collision free path for a vehicle group moving in close formation through an area with known obstacles, while keeping formation when possible and change formation when necessary. Whenever possible, they shall use their original paths in desired formation, as only this performance will bring benefit (e.g. collecting data where the measurements of several vehicles shall be merged at the end).
Keywords :
collision avoidance; marine vehicles; mobile robots; multi-robot systems; remotely operated vehicles; close formation; collision free path; multiple unmanned marine vehicle; obstacle avoidance; Automation; Jacobian matrices; Land vehicles; Marine vehicles; Mobile robots; Remotely operated vehicles; Sea surface; Sonar detection; Underwater communication; Underwater vehicles;
Conference_Titel :
OCEANS 2009 - EUROPE
Conference_Location :
Bremen
Print_ISBN :
978-1-4244-2522-8
Electronic_ISBN :
978-1-4244-2523-5
DOI :
10.1109/OCEANSE.2009.5278195
