Title :
Motion planning of underwater multi-microrobot system
Author :
Guo, Shuxiang ; Ye, Xiufen ; Gao, Baofeng
Author_Institution :
Harbin Eng. Univ., Harbin
Abstract :
In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation methods and motion planning algorithms of several microrobots. At last, we use MATLAB to make the formation motional simulation of the microrobot system when following a desired trajectory or path. And we use OPENGL to realize the circle motion of the microrobot system. The simulation results can help us to control the team of microrobots to keep the triangle formation.
Keywords :
closed loop systems; conducting polymers; ionic conductivity; microrobots; multi-robot systems; path planning; underwater vehicles; MATLAB; close-loop control system; coordinate motion; formation motional simulation; ionic conducting polymer film actuators; mission planning; motion planning; motion planning algorithms; multitask underwater methods; submarine robots; underwater multimicrorobot system; Control systems; Motion control; Motion planning; Multirobot systems; Optimal control; Orbital robotics; Path planning; Robot kinematics; Robot sensing systems; Robotics and automation; ICPF; Mult-microrobot System; motion planning; simulation;
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
DOI :
10.1109/ICMA.2008.4798840
