Formation Control Experiment of Autonomous Jellyfish Removal Robot System JEROS

  • Donghoon Kim
  • Jae-Uk Shin
  • Hyongjin Kim
  • Hanguen Kim
  • Hyun Myung
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 274)

Abstract

The proliferation of jellyfish is threatening marine ecosystem and has caused severe damage to marine-related industries. An autonomous jellyfish removal robot system, named JEROS (Jellyfish Elimination Robotic Swarm), has been developed to cope with this problem. This paper presents formation control of JEROS and related experimental results through field tests. The JEROS is extended to multi-agent robot system and employs the leader-follower algorithm for formation control. The Theta* path planning algorithm is employed to generate an efficient path. Three prototypes of JEROS are implemented, and the feasibility of their formation control and the performance of jellyfish removal were demonstrated through field tests in Masan Bay located in the southern coast of South Korea.

Keywords

jellyfish removal surface vehicle navigation path planning formation control 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Donghoon Kim
    • 1
  • Jae-Uk Shin
    • 1
  • Hyongjin Kim
    • 1
  • Hanguen Kim
    • 1
  • Hyun Myung
    • 1
  1. 1.URL (Urban Robotics Lab.)KAIST (Korea Advanced Institute of Science and Technology)DaejeonKorea

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