Coordinated ASV-UAV control for marine collision-free navigation

LEONARDO GARBEROGLIO; IGNACIO MAS; JUAN I. GIRIBET

Bahia Blanca

Congreso; XVIII Workshop on Information Processing and Control (RPIC); 2019

There is an increasing interest in replacing a unique,complex, and expensive vehicle equipped with several sensorswith a group of small vehicles, each of them carrying fewersensors. There are several advantages in these segmented archi-tectures, such as cost, flexibility, redundancy, and robustness,among others. The advantage of segmented architectures iseven more noticeable if the vehicles carrying those sensors havedifferent characteristics or environments of operation, e.g. aerial,terrestrial or marine vehicles. This work proposes a multi-robotsystem where an autonomous marine vehicle avoids obstaclesrelying on aerial images provided by an autonomous flyingvehicle. Both robots navigate in a coordinated fashion increasingthe detection area and allowing to adjust the obstacle detectionhorizon. In order to validate the control scheme two simulationscenarios are presented.