Autonomous Surface Vessels Navigation Using Cluster Space Control Technique in Multi-Robot System

Multi-robot systems control over many advantages over a single-robot managing system, including redundancy, coverage and flexibility. One of the important technical considerations in fielding multirobot systems for real-world applications is the coordinating the different units. The cluster based controlling technique using simplified specification and monitoring of the movement of mobile multirobot systems. Our previous work has established this approach and has experimentally verified its use for land-based systems consisting of 2-4 robots and with varying implementations ranging from automated movement control to human-in-the-loop piloting. In this paper, we plan the design and fabrication of a new low-cost autonomous surface vessel (ASV). The technical system includes a multi-robot system capable of autonomous navigation using the cluster control technique. It also adds a centralized controller, currently connected via a shore-based computer that wirelessly receives ASV data and relays using commands. Using the different cluster space control approach, these drive commands allow a robot to remotely drive a two-ASV cluster or to specify that the two ASVs maintain formation with a third robot. The resulting multi-ASV clusters can be translated, and resized depending on the needs of a particular application. Experimental results demonstrating these abililities of robots to provide, and plans for future work are discussed.