Next-Generation Sensing and Maneuverability for Underwater Robots
Abstract
Current autonomous underwater vehicles (AUV) have high performance but comparably low agility and power efficiency. This is in partbecause most current AUVs rely on propeller-based thrusters that have low efficiency at slow speeds and require more thrusters to enhance maneuverability, thus invariably increasing power consumption. Metachronal propulsion offers a versatile strategy to navigatethis tradeoff given that it allows many species to quickly migrate hundreds of meters vertically efficiently but also navigate in complex habitats such as under-ice cracks in the Arctic or dynamic tidal areas along the coastline. This utility emerges from its superior control over acceleration, braking, and turning compared with other swimming strategies. Given that metachronal swimming is employed across a wide range of scales, from sub-millimeters to tens of centimeters, it is ideal for applications where miniaturization is key. The proposed project aims to develop the first bioinspired autonomous metachronal robotic platform with swarming capabilities for underwater sensing missions. Coordinated sensing of multiple units substantially increases the overall spatial coverage via coordinated sensing. We have assembled a multi-disciplinary team of experimental fluid dynamicists, roboticists, and computer scientists to leverage our recently developed bioinspired metachronal test platform and integrate innovative control algorithms and sensors to design a novel modular AUV. The product will expand the DoD#s bio-inspired autonomous systems portfolio to include the first autonomous metachronal robotic platform with swarming and high-motility capabilities for extensive and cost-effective underwater survey missions. The proposed project is Fundamental Research, having civilian and military applications.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Nov 09, 2024
- Source ID
- N000142412662
Entities
People
- Monica M. Wilhelmus
Organizations
- Brown University
- Office of Naval Research
- United States Navy