Heterogeneous Multi-Robot (UAV-USV-AUV) Collaborative Exploration with Energy Replenishment

Abstract

This work enables heterogeneous robot collaborative exploration using aerial (UAV), surface (USV), and underwater (AUV) vehicles. The approach employs dynamic programming to determine the optimal number of heterogeneous vehicles based on their characteristics and battery capacity of mobile charging stations. Collaborative Coverage Path Planning (CPP) execution, treated as a multi-traveling salesman problem, utilizes the Genetic Algorithm to get near-optimal solutions. Furthermore, Dijkstra's algorithm is integrated to address obstacles like islands and coral reefs, ensuring efficient energy replenishment for UAVs and AUVs. The strategy can be applied to short-term missions like rescue and delivery, as well as long-term operations like surveillance.