Publication: Mini autonomous surface vehicle: swarming tools
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Date
2010-04-01
Authors
Kok, Chee Hou
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Abstract
The use of Autonomous Surface Vehicles (ASVs) for oceanographic purposes, such as water depth measurement, locating submerged objects, obtaining samples of bioluminescent organisms and other purposes has been developing recently. Eight ASVs have been fabricated under an ongoing research. They are all equipped with Global Positioning System (GPS), digital compass, depth and temperature transducer, servo motor, water thrusters, RF transceiver, modem and controller. The objective of this project is to enable the swarm of mini ASVs to move about the navigation area and to intelligently perform a certain given task by implementing swarm intelligence on them with the mentioned equipments. In implementing the swarm intelligence, the optimal navigation path searching of the Drosophila or fruit fly is utilized. Besides that, Lévy flight algorithm is also used together with boundary and region recognition to generate random GPS positions for the ASVs. However, the accuracy and the sensitivity of the GPS receiver are low. Hence, to overcome this, area target is used instead of the point target. As a conclusion, the simulation of the path planning for each ASV has been successfully developed based upon real coordinates by using MATLAB programming.