[eng] Navigation of multi-robot systems (MRS) in underwater environments can be challenging due to environmental
conditions that can compromise the integrity of autonomous underwater vehicles (AUVs) as a result of possible collisions between
them. For this reason, this Master’s Thesis focuses on the design
of a Multi-Robot System (MRS) that implements two obstacle
avoidance algorithms, with the aim of carrying out numerous
3-D simulations, using the Robot Operating System (ROS) and
the Sparus II AUV architecture, in order to obtain results with
which to compare the efficiency of both algorithms. Specifically,
the efficiency of the classical Artificial Potential Fields (APF)
algorithm is compared with the Optimal Reciprocal Collision
Avoidance (ORCA) algorithm. Furthermore, the performance of
these algorithms when used in combination with a stop-andwait (SAW) strategy is evaluated. The results obtained from
the simulations, indicate that, in general, the ORCA algorithm
outperforms the APF algorithm in terms of obstacle avoidance
efficiency. Furthermore, the work concludes that the SAW strategy is less efficient in terms of navigation time but demonstrates
greater robustness in terms of collision avoidance when applied,
and tends to yield better results when combined with the APF
algorithm. However, conducting numerous simulations is essential
to determine the most appropriate navigation strategy based on
the environmental characteristics