Robust path planning and trajectory optimization framework for tethered ASV-AUV

Authors

  • Markus Buchholz
  • Zebin Huang
  • Ignacio Carlucho
  • Yvan Petillot

DOI:

https://doi.org/10.5821/iwp.2024.23.14148

Abstract

This paper introduces a novel framework for path planning and trajectory optimization for a tethered multi-robot system consisting of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). The framework addresses the challenges of coordinating and navigating these robots, including the dynamic behavior of the tether within the robot team and environmental obstacles. The findings hold promise for future research and practical deployments in areas requiring precise coordination and movement, such as underwater inspection and maintenance.

Issue

No. 23 (2024)

Section

Articles

License

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