Experiment System Development for Study on Control Algorithm of Unmanned Surface Vehicle Group

Unmanned surface vehicle (USV) is one of the effective devices for environmental monitoring of ocean. To monitor the wide area of ocean simultaneously, there is a need to distribute a group of USVs that can cruise autonomously. Development of control algorithm for these USV group is important and a tank experimental system is necessary for a design spiral of control algorithm investigation. In this research, the authors developed a set of tank experimental system aimed for study on control algorithm of USVs. The system consists of two catamarans that equips a forward camera, AR marker, wireless communication module and a single board computer to integrate all modules, which are intended to emulate AIS, GNSS and Radar in the real system. Two cases of collision avoidance algorithm are tested using this system. The first experiment is each ship has the same program to change its heading to avoid the possible collision. The second experiment is one ship slows down and the other ship changes its heading. Through these experiments, the authors confirmed the experimental system worked well and effective for the investigation of control algorithm development of a USV group.


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  • Accession Number: 01719609
  • Record Type: Publication
  • Source Agency: Japan Science and Technology Agency (JST)
  • Files: TRIS, JSTAGE
  • Created Date: Oct 21 2019 9:46AM