Autonomy and control of swarm USVs with self-assembly capability

This research aimed to design an autonomous decentralizedcontrol system for unmanned surface robots with the abilityto connect to each other. The Modboat has been modeledaccording to its hydrodynamic equations in Javaprogramming language. The path-planning was thenbecoming available by a combination of two controllersPID and the desaturated thrust direction. Velocity controland non-collision system were also designed. The robot’smodel performed the connecting and covering algorithmsindependently and autonomously, eventually forming astructure. Modeling tests were matched with references. InJava, graphical modeling along with numerical modeling ofthe robot was achieved using the Champagne-Bogachkialgorithm. The combination of the two directionalcontrollers had a shorter response of about one second thaneach of the separate controllers and showed significantdamping. In the test of covering a square with a side of ۶tenths of meters, all the robots gathered in the target areaand formed a floating structure. In total, an algorithm formoving autonomous and modular swarm robots (which canbe connected to each other) independently was obtained,which has the ability to lead the robots to form a structureon the coverage target independently by receiving itscoordination.

کلیدواژه ها:

Swarm Robotic ، Self-Assembly ، UnmannedSurface Vehicles ، ModBoat