A multirobot platform based on autonomous surface and underwater vehicles with bio-inspired neurocontrollers for long-term oil spills monitoring
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Guerrero González, Antonio; García Córdova, Francisco; Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Gilabert Cervera, Francisco JavierÁrea de conocimiento
Ingeniería de Sistemas y AutomáticaPatrocinadores
This work was partially supported by the BUSCAMOS Project (ref. 1003211003700) under the program DN8644 COINCIDENTE of the Spanish Defense Ministry, the “Research Programme for Groups of Scientific Excellence at Region of Murcia” of the Seneca Foundation (Agency for Science and Technology of the Region of Murcia-19895/GERM/15)”, and the Spanish Government’s cDrone (ref. TIN2013-45920-R) and ViSelTR (ref. TIN2012-39279) projects.Fecha de publicación
2016-10Editorial
SpringerRevisión por pares
siPalabras clave
ASVUUV
Multi-vehicle cooperation
Artificial neural networks
Bio-inspired control
Oil spill monitoring
Component based software architecture
Autonomous long-term navigation
Resumen
This paper describes the BUSCAMOS-Oil monitoring system, which is a robotic platform consisting of an autonomous surface vessel combined with an underwater vehicle. The system has been designed for the long-term monitoring of oil spills, including the search for the spill, and transmitting information on its location, extent, direction and speed. Both vehicles are controlled by two different types of bio-inspired neural networks: a Self-Organization Direction Mapping Network for trajectory generation and a Neural Network for Avoidance Behaviour for avoiding obstacles. The systems’ resilient capabilities are provided by bio-inspired algorithms implemented in a modular software architecture and controlled by redundant devices to give the necessary robustness to operate in the difficult conditions typically found in long-term oil-spill operations. The efficacy of the vehicles’ adaptive navigation system and long-term mission capabilities are shown in the experimental results.
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