Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup

摘要：

Oil skimmers towed by two vehicles have been widely used for skimming of oil on the water surface. In this paper, we address the cooperative control of two au- tonomous surface vehicles for oil skimming and cleanings. We model the skimmer as a flexible, floating rope of constant length as well as discrete segmented model. We derive the equations governing the rope dynamics from first principles and demonstrate their application through simulations. We have performed field experiments with two autonomous surface vehicles that substantiate the proposed model and provides estimates of constants underlying the model. We propose a method for controlling the shape of the rope, and derive the conditions that maximize skimming efficiency.

作者: Subhrajit Bhattacharya Hordur Heidarsson Gaurav S. Sukhatme Vijay Kumar

作者单位: GRASP Laboratory,University of Pennsylvania Robotic Embedded Systems Laboratory at the University of Southern California

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2374-2379

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）