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Robotics 2016, 5(1), 2;

Coordination of Multiple Biomimetic Autonomous Underwater Vehicles Using Strategies Based on the Schooling Behaviour of Fish

Division of Aerospace Sciences, School of Engineering, University of Glasgow, Glasgow G12 8QQ, UK
Author to whom correspondence should be addressed.
Academic Editors: Ingrid Schjølberg and Thor I. Fossen
Received: 13 November 2015 / Revised: 21 December 2015 / Accepted: 28 December 2015 / Published: 13 January 2016
(This article belongs to the Special Issue Underwater Robotics)
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Biomimetic Autonomous Underwater Vehicles (BAUVs) are Autonomous Underwater Vehicles (AUVs) that employ similar propulsion and steering principles as real fish. While the real life applicability of these vehicles has yet to be fully investigated, laboratory investigations have demonstrated that at low speeds, the propulsive mechanism of these vehicles is more efficient when compared with propeller based AUVs. Furthermore, these vehicles have also demonstrated superior manoeuvrability characteristics when compared with conventional AUVs and Underwater Glider Systems (UGSs). Further performance benefits can be achieved through coordination of multiple BAUVs swimming in formation. In this study, the coordination strategy is based on the schooling behaviour of fish, which is a decentralized approach that allows multiple AUVs to be self-organizing. Such a strategy can be effectively utilized for large spatiotemporal data collection for oceanic monitoring and surveillance purposes. A validated mathematical model of the BAUV developed at the University of Glasgow, RoboSalmon, is used to represent the agents within a school formation. The performance of the coordination algorithm is assessed through simulation where system identification techniques are employed to improve simulation run time while ensuring accuracy is maintained. The simulation results demonstrate the effectiveness of implementing coordination algorithms based on the behavioural mechanisms of fish to allow a group of BAUVs to be considered self-organizing. View Full-Text
Keywords: robotic fish; coordination algorithms; mathematical modelling; biomimetic robotic fish; coordination algorithms; mathematical modelling; biomimetic

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McColgan, J.; McGookin, E.W. Coordination of Multiple Biomimetic Autonomous Underwater Vehicles Using Strategies Based on the Schooling Behaviour of Fish. Robotics 2016, 5, 2.

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