Robotic ocean vehicles for marine science applications: the European ASIMOV project

Pascoal, A.; Oliveira, Paulo; Silvestre, Carlos; Sebastião, Luís; Rufino, Marta M.; Barroso, V.; Gomes, Jorge; Ayela, G.; Coince, P.; Cardew, Marcus; Ryan, A.; Braithwaite, H.; Cardew, N.; Trepte, J.; Seube, Nicolas; Champeau, Joël; Dhaussy, Philippe; Sauce, V.; Moitie, R.; Santos, Régis; Cardigos, Frederico; Brussieux, M.; Dando, P. R.

doi:10.1109/oceans.2000.881293

Cited by 94 publications

(58 citation statements)

References 6 publications

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“…The Atlantis has demonstrated an advance in control precision of a windpropelled marine vehicle to an accuracy of better than one meter. This quantitative improvement enables new applications, including unmanned station-keeping for navigation or communication purposes, autonomous "dock-to-dock" transportation capabilities, emergency "return unmanned" functions, precision marine science monitoring [10], and many others still to be developed. The prototype is based on a modified Prindle-19 light catamaran.…”

Section: A System Overviewmentioning

confidence: 99%

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Elkaim

Kelbley

2006

Proceedings of the 45th IEEE Conference on Decision and Control

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Abstract-Precision guidance and control of an autonomous, wind-propelled catamaran has been demonstrated by the Atlantis, a modified Prindle-19 catamaran, to be experimentally capable of tracking straight line segments to better than 0.3 meters (1 − σ). This paper extends Atlantis's guidance and navigation system to provide precision control while traversing a series of way-points and adds station keeping functionality, that is the ability for Atlantis to maintain her position at a given way-point in the presence of unknown water currents while motor powered. To achieve this, segmented trajectories are developed using the specified way-points forming line segments and arcs as path primitives. If a segment is unreachable directly due to the wind direction, a real-time tacking control mode is enabled and the Atlantis tacks within a given lane width until its destination is reached. For simulation a nonlinear model of the Atlantis was developed that includes realistic wind and water current models. Monte Carlo simulations of this new guidance and control system on the nonlinear model demonstrates the Atlantis is capable of maintaining a cross-track error of less than one meter throughout the path.

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Section: A System Overviewmentioning

confidence: 99%

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Elkaim

Kelbley

2006

Proceedings of the 45th IEEE Conference on Decision and Control

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“…One of the basic requirements for ASVs is that they should navigate (by themselves) safely and avoid collisions with any other ships/obstacles or with land mass in the surroundings (Pascoal et al (2000)). Furthermore, to operate harmoniously with other ships (either manned or unmanned), an ASV should behave in a manner similar to that of other ships in the vicinity.…”

Section: Introductionmentioning

confidence: 99%

COLREGs-Compliant Path Planning for Autonomous Surface Vehicles: A Multiobjective Optimization Approach * *The authors should like to thank Innovate UK, grant reference, TSB 102308, for the funding of this project

Hu¹,

Naeem²,

Rajabally

et al. 2017

IFAC-PapersOnLine

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In this paper, a multiobjective optimization framework is proposed for on-line path planning of autonomous surface vehicles (ASVs), where both collision avoidance and COLREGscompliance are taken into account. Special attention has been paid to situational awareness and risk assessment, particularly when the target ship is in breach of the COLREGs rules defined by the International Maritime Organisation. In order to implement COLREGs, the rules together with physical constraints are formulated as mathematical inequalities. A multiobjective optimization problem based on particle swarm optimization is then solved, the solution of which represents a newly-generated path. It is shown through simulations that the proposed method is able to generate COLREGs-compliant and collision-free paths even for non-cooperative targets i.e. vessels that are in breach of COLREGs.

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“…The objective is to build an accurate representation of the world based on the set of observations performed by the robots within a minimal time. Thus, the produced map can be used by the human for achieving some dangerous missions like oceanic and planetary exploration [1,2]. In this context, the use of multiple robots can be advantageous in many real world situations where the collaboration of several simple and not expensive robots proves to be faster and more efficient than using a large and complex robot [3].…”

Section: Introductionmentioning

confidence: 99%

Minimum Position Based on Robot’s Energy Consumption: A New Algorithm for Coordinated Multi-Robot Exploration

Benkrid

Achour

2017

MATEC Web Conf.

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Abstract. This paper addresses the multi-robot exploration problem in unknown environments. The proposed method aims to minimize the exploration time considering the robot's limited energy. The target area is defined as a frontier which represents the limit between an unknown and explored part of the environment. Thus, each robot from the team is assigned to the frontier for which it has the lowest rank among the other robots in term of energy consumption. An implementation and tests in computerized simulation as well as a comparison with some existing approaches has been performed. The results obtained demonstrate the validity and the efficiency of our method.

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Robotic ocean vehicles for marine science applications: the European ASIMOV project

Cited by 94 publications

References 6 publications

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

COLREGs-Compliant Path Planning for Autonomous Surface Vehicles: A Multiobjective Optimization Approach * *The authors should like to thank Innovate UK, grant reference, TSB 102308, for the funding of this project

Minimum Position Based on Robot’s Energy Consumption: A New Algorithm for Coordinated Multi-Robot Exploration

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