A Pheromone-Inspired Monitoring Strategy Using a Swarm of Underwater Robots.

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ID: 53968
2019
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Abstract
The advent of the swarm makes it feasible to dynamically monitor a wide area for maritime applications. The crucial problems of underwater swarm monitoring are communication and behavior coordination. To tackle these problems, we propose a wide area monitoring strategy that searches for static targets of interest simultaneously. Traditionally, an underwater robot adopts either acoustic communication or optical communication. However, the former is low in bandwidth and the latter is short in communication range. Our strategy coordinates underwater robots through indirect communication, which is inspired by social insects that exchange information by pheromone. The indirect communication is established with the help of a set of underwater communication nodes. We adopt a virtual pheromone-based controller and provide a set of rules to integrate the area of interest into the pheromone. Based on the information in the virtual pheromone, behavior laws are developed to guide the swarm to monitor and search with nearby information. In addition, a robot can improve its performance when using additional far-away pheromone information. The monitoring strategy is further improved by adopting a swarm evolution scheme which automatically adjusts the visiting period. Experimental results show that our strategy is superior to the random strategy in most cases.
Reference Key
li2019asensors Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Li, Guannan;Chen, Chao;Geng, Chao;Li, Meng;Xu, Hongli;Lin, Yang;
Journal sensors
Year 2019
DOI
E4089
URL
Keywords
marine monitoring swarm robotics target search underwater robot virtual pheromone

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