Heterogenous Swarm of Underwater Autonomous Vehicles - Wireless Teleoperation and Shared Autonomy Obstacle Avoidance Control of Underwater Robotic Fish

Abstract

The following thesis is on a Heterogeneous swarm of underwater robotic fishes. A system that is utilized for underwater environmental monitoring and extracting data on the environment. To ensure the safety of these robotic fishes and the data extracted a new control system is required. The thesis proposed three different systems to do so, obstacle avoidance, confined path following, and shared autonomy. The development of obstacle avoidance control systems will allow the robotic fish to go through more complex advanced missions and work in confined underwater areas. The method used to develop this system is split into three parts simulation, implementation, and experimentation. To identify the distance to obstacles the robotic fish will use an LED strip system. The results of five different experiments were all positive and a clear showcase of why such a system developed is essential. A plot that showcases how the robotic fish go through the experiments is shown in the results section.

Date of Award	1 May 2024
Original language	American English
Supervisor	Federico Renda (Supervisor)