Coordinating Tethered Autonomous Underwater Vehicles towards Entanglement-Free Navigation
نویسندگان
چکیده
This paper proposes an algorithm that provides operational strategies for multiple tethered autonomous underwater vehicle (T-AUV) systems entanglement-free navigation. T-AUVs can perform tasks under reliable communication and power supply, which is the most substantial benefit of their operation. Thus, if one overcome entanglement issues while utilizing vehicles, potential applications system increase including ecosystem exploration, infrastructure inspection, maintenance, search rescue, construction, surveillance. In this study, we focus on developing task allocation, path planning, scheduling ensure operations considering workload balancing among vehicles. We do not impose restrictions size or shape vehicles at stage; our primary efficient tether management as initial work topic. To achieve navigation, propose a heuristic based primal-dual technique, enables allocation planning minimizing maximum travel cost Although often generates sectioned paths due to its workload-balancing nature, also mixed approach provide feasible solutions non-sectioned paths. combines avoidance techniques with time sectionalization methods. evaluate effectiveness algorithm, extensive simulations were conducted varying problem sizes. The computational results demonstrate be applied in real-time operations, it consistently within reasonable frame.
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ژورنال
عنوان ژورنال: Robotics
سال: 2023
ISSN: ['2218-6581']
DOI: https://doi.org/10.3390/robotics12030085