Design of the Multi-Robot Coherent Structure Testbed (mCoSTe) for Distributed Tracking of Geophysical Fluid Dynamics
Design of the Multi-Robot Coherent Structure Testbed (mCoSTe) for Distributed Tracking of Geophysical Fluid Dynamics
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地球物理流体动力学分布式跟踪多机器人相干结构试验台（mCoSTe）设计
DOI：
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发表时间：
2014
期刊：
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通讯作者：
M. A. Hsieh
中科院分区：
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作者：
Dennis Larkin;M. Michini;Alexandra Abad;Stephanie Teleski;M. A. Hsieh
我们介绍了多机器人相干结构测试台（mCoSTe）的设计和验证。 mCoSTe 是一个实验测试台，用于评估二维流中自主地面车辆团队的流形和相干结构跟踪策略的性能。它由配备机载流量传感器的微型自主地面车辆 (mASV) 车队和三个实验流动罐组成：低雷诺数 (LoRe) 罐、高雷诺数 (HiRe) 罐和多机器人 (MR) 罐。每个流动罐都能够在实验室环境中产生可控的海洋般的流动。 HiRe 和 MR 水箱中的流动是使用独立控制的涡流驱动气缸网格产生的。我们通过结合有限时间李雅普诺夫指数 (FTLE) 和动态模式分解 (DMD) 分析表面流，展示了 HiRe 槽如何能够在 2D 中产生可重复且可控的相干结构。利用这些结果，在 MR Tank 中复制缩放流量，以对机器人跟踪策略进行实验验证。在我们现有工作的基础上，通过使用每辆车车载流量传感器对流场进行局部采样，实现了二维流中流形和相干结构的机器人跟踪。我们描述了 mASV 和板载流量传感器的设计和开发，并提供实验结果来证明我们设计的有效性。版权所有 © 2014 ASME
We present the design and validation of the multi-robot coherent structure testbed (mCoSTe). The mCoSTe is an experimental testbed that is used to evaluate the performance of manifold and coherent structure tracking strategies by a team of autonomous surface vehicles in two-dimensional flows. It consists of a fleet of micro-autonomous surface vehicles (mASVs) equipped with onboard flow sensors and three experimental flow tanks: a Low Reynolds number (LoRe) Tank, a High Reynolds number (HiRe) Tank, and a Multi-Robot (MR) Tank. Each of the flow tanks are capable of producing controllable ocean-like flows in a laboratory setting. Flows in the HiRe and MR tanks are generated using a grid of independently controlled vortex driving cylinders. We show how the HiRe tank is capable of producing repeatable and controllable coherent structures in 2D by analyzing the surface flows using a a combination of Finite-Time Lyapunov Exponents (FTLE) and Dynamic Mode Decomposition (DMD). Using these results, a scaled flow is replicated in the MR Tank for experimental validation of robotic tracking strategies. Building upon our existing work, robotic tracking of manifolds and coherent structures in 2D flows is achieved through local sampling of the flow field using each vehicles onboard flow sensors. We describe the design and development of the mASVs and the onboard flow sensor and present experimental results to show the validity of our designs.Copyright © 2014 by ASME