A master thesis from Aalborg University
Formation Control of Autonomous Surface Vehicles for Surveying Purposes
Author(s)
Term
4. term
Education
Publication year
2015
Submitted on
2015-01-08
Pages
159 pages
Abstract
Dette kandidatspeciale omhandler fortsat arbejde på AAUSHIP platformen. AAUSHIP er en ASV som kan have flere forskellige anvendelsesmuligheder. Fokus i dette projekt er formationskontrol med baggrund i pejlingsopgaver hvortil AAUSHIP skal udvides fra et enkelt skib til en flåde af AAUSHIPs. Båden er fysisk blevet opgraderet med nyt elektronik som er implementeret. Dertil er den enkelte båd blevet testet med et nyt KF hvortil en retningsregulator også er implementeret. Denne er anvendt som en LOS reference regulator for at få båden til at konvergere til de genererede liniestykker mellem rutepunkter. Efterfølgende har fokus været sat på at identificere og analysere formationsstrategier som skal implementeres på bådene, når disse er produceret. Mest fokus er lagt på en potentialefeltsalgoritme, som er blevet simuleret inklusiv dynamikken fra modellen af AAUSHIP. Dette danner grundlaget for implementering på flåden med opfølgende verifikation. Resultater viser, at det er muligt at kontrollere AAUSHIP med den designede model, i et område givet af Aalborg Havn. Yderligere arbejde vil ligge i at forbedre modellen af AAUSHIP, men dette har ikke vist sig at være nødvendigt da fokus i dette project har omhandlet pejlingsopgaven. Slutteligt udviser simulering af formationskontrolstrategien potentiale for en mulig implementering af denne på den kommende flåde af AAUSHIPs, så disse kan foretage pejligsopgaver som en dannet formation af skibe.
This master's thesis concerns the further work on the platform named AAUSHIP. This is an ASV which can have different purposes. Within the scope of this project it will be used for surveying applications, where the AAUSHIP will be expanded to be a fleet of AAUSHIPs to navigate in a formation. Firstly, the old AAUSHIP is upgraded with respect of hardware and implementation of these have been necessary. The single AAUSHIP have been tested after newly implemented Kalman Filter and a heading controller have been implemented. This is used as a LOS guidance to make the AAUSHIP converge onto a predetermined trajectory. Afterwards is the focus to investigate formation strategies to be implemented at the AAUSHIP when more ships are to come. The main investigated strategy is based on a potential field algorithm, which have been simulated with the dynamics of the AAUSHIP. This is the basis of future work to implement this strategy at the coming AAUSHIP fleet for verification of the methods. Results show that, with the model designed, it is possible to control the AAUSHIP in the area of interest. Further work to the model can improve performance, but this has not been the main focus within the scope of this project, where the surveying purpose have been in focus. Simulation of the formation control strategy with potential field shows the potential to implement this at the coming AAUSHIP fleet, such that these will be able to perform surveying as an entire group of vessels.
Keywords
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