Framework for Robust Motion Planning of Tethered Multi-Robot Systems in Marine Environments

TL;DR

CoralGuide is a new framework that improves path planning and trajectory optimization for tethered marine robots, combining catenary modeling and Bezier curves for safe, efficient navigation.

Contribution

It introduces CoralGuide, integrating tether management with advanced path planning techniques specifically for marine tethered robot systems.

Findings

Enhanced navigation safety and efficiency demonstrated in simulations.

Improved trajectory smoothness and synchronization in experiments.

Potential applications in marine research and infrastructure inspection.

Abstract

This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). CoralGuide provides safe navigation in marine environments by enhancing the A* algorithm with specialized heuristics tailored for tethered ASV-AUV systems. Our method integrates catenary curve modelling for tether management and employs Bezier curve interpolation for smoother trajectory planning, ensuring efficient and synchronized operations without compromising safety. Through simulations and real-world experiments, we have validated CoralGuides effectiveness in improving path planning and trajectory optimization, demonstrating its potential to significantly enhance operational capabilities in marine research and infrastructure inspection.