Formation Control of Autonomous Surface Vehicles for Surveying Purposes
Authors
Østergaard, Nick ; Dam, Jeppe
Term
4. term
Education
Publication year
2015
Submitted on
2015-01-08
Pages
159
Abstract
Dette speciale videreudvikler AAUSHIP-platformen, et autonomt overfladefartøj (ASV) til opmålingsopgaver, og forbereder den til at fungere ikke kun alene, men også som del af en lille flåde. Arbejdet starter med at opgradere den eksisterende båds hardware og integrere centrale navigations- og styringsfunktioner. Et Kalman-filter (som sammenstiller støjfyldte sensordata for at estimere position og bevægelse), en kursregulator (der holder båden korrekt orienteret) og line-of-sight (LOS) vejledning (til at følge en forudbestemt rute) blev implementeret og testet på en enkelt AAUSHIP. Testene viser, at den udformede model kan føre fartøjet langs en valgt bane inden for det relevante område. I den anden del undersøges, hvordan flere AAUSHIP’er kan sejle i formation for fælles opmåling. Hovedtilgangen er en potentialefelts-algoritme, hvor virtuelle tiltræknings- og frastødningskræfter bruges til at holde fartøjerne på kurs og i korrekt indbyrdes afstand. Strategien blev evalueret i simulering med AAUSHIPs dynamik. Yderligere modelforbedringer kan øge ydeevnen, men fokus her var på opmålingsformålet. Simulationsresultaterne indikerer, at formationsstyring baseret på potentialefelter er lovende og giver et solidt grundlag for fremtidig implementering i en AAUSHIP-flåde.
This thesis advances the AAUSHIP platform, an autonomous surface vessel (ASV) for surveying tasks, and prepares it to operate not only alone but also as part of a small fleet. The work begins by upgrading the existing boat’s hardware and integrating key navigation and control functions. A Kalman filter (which fuses noisy sensor data to estimate position and motion), a heading controller (to keep the boat correctly oriented), and line-of-sight (LOS) guidance (to follow a predefined path) were implemented and tested on a single AAUSHIP. These tests show that the designed model can guide the vessel along a chosen trajectory within the area of interest. The second part examines how multiple AAUSHIPs could travel in formation for group surveying. The main approach is a potential field algorithm, where virtual attractive and repulsive forces help maintain course and proper spacing. This strategy was evaluated in simulation using the AAUSHIP’s dynamics. Although further model improvements could enhance performance, the focus here was on surveying capability. The simulation results indicate that potential-field-based formation control is promising and provides a solid basis for future implementation in an AAUSHIP fleet.
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