CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots

被引：0
|
作者：
Hou, Xihuan [1 ,2 ]
Guo, Shuxiang [1 ,2 ,3 ]
Shi, Liwei [1 ,2 ]
Xing, Huiming [1 ,2 ]
Liu, Yu [1 ,2 ]
Hu, Yao [1 ,2 ]
Xia, Debin [1 ,2 ]
Li, Zan [1 ,2 ]
机构：
[1] Beijing Inst Technol, Minist Ind & Informat Technol, Key Lab Convergence Med Engn Syst & Healthcare Te, 5 Zhongguancun South St, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Minist Educ, Key Lab Biomimet Robots & Syst, 5 Zhongguancun South St, Beijing 100081, Peoples R China
[3] Kagawa Univ, Fac Engn, 2217-20 Hayashi Cho, Takamatsu, Kagawa, Japan
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年
基金：
中国国家自然科学基金;
关键词：
Amphibious spherical robot; Underwater formation; Computational fluid dynamic (CFD);
D O I：
10.1109/icma.2019.8816373
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1496 / 1501
页数：6
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