TY - GEN
T1 - CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots
AU - Hou, Xihuan
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Xing, Huiming
AU - Liu, Yu
AU - Hu, Yao
AU - Xia, Debin
AU - Li, Zan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - As limited sensing and working capability of a single robot, multiple robots cooperative accomplishing complex tasks in formation has been a popular topic in recent years. Energy efficiency is the premise and guarantee for underwater robot to complete a wide range of task, especially for the small and bionic amphibious spherical robots with limited energy. This paper analyzed three formation shapes in the view of underwater hydrodynamic drag aiming at decreasing the energy consumption of a multiple robots system. Numerical simulation based on Computational Fluid Dynamic (CFD) is adopted to compute the drag of each individual robot and entire systems. Simulation results show that triangular formation shape can decrease the total drag. When the serial and parallel formation are needed, the longitudinal distance and transverse distance should be short as soon as possible.
AB - As limited sensing and working capability of a single robot, multiple robots cooperative accomplishing complex tasks in formation has been a popular topic in recent years. Energy efficiency is the premise and guarantee for underwater robot to complete a wide range of task, especially for the small and bionic amphibious spherical robots with limited energy. This paper analyzed three formation shapes in the view of underwater hydrodynamic drag aiming at decreasing the energy consumption of a multiple robots system. Numerical simulation based on Computational Fluid Dynamic (CFD) is adopted to compute the drag of each individual robot and entire systems. Simulation results show that triangular formation shape can decrease the total drag. When the serial and parallel formation are needed, the longitudinal distance and transverse distance should be short as soon as possible.
KW - Amphibious spherical robot
KW - Computational fluid dynamic (CFD)
KW - Underwater formation
UR - http://www.scopus.com/inward/record.url?scp=85072395746&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2019.8816373
DO - 10.1109/ICMA.2019.8816373
M3 - Conference contribution
AN - SCOPUS:85072395746
T3 - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
SP - 1496
EP - 1501
BT - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Y2 - 4 August 2019 through 7 August 2019
ER -
