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Unmanned Surface Vehicle Using a Leader–Follower Swarm Control Algorithm

التفاصيل البيبلوغرافية
العنوان: Unmanned Surface Vehicle Using a Leader–Follower Swarm Control Algorithm
المؤلفون: Ji-Hyeong Lee, Sang-Ki Jeong, Dae-Hyeong Ji, Hae-Yong Park, Do-Young Kim, Ki-Beom Choo, Dong-Wook Jung, Myung-Jun Kim, Myoung-Hak Oh, Hyeung-Sik Choi
المصدر: Applied Sciences, Vol 13, Iss 5, p 3120 (2023)
بيانات النشر: MDPI AG, 2023.
سنة النشر: 2023
المجموعة: LCC:Technology
LCC:Engineering (General). Civil engineering (General)
LCC:Biology (General)
LCC:Physics
LCC:Chemistry
مصطلحات موضوعية: unmanned surface vehicle, swarm control algorithm, leader–follower method, actual sea area test, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999
الوصف: To overcome the limitations of a single unmanned surface vehicle (USV), this study investigated the swarm control algorithms of USVs. Among various swarm control methods, a leader–follower swarm control method was selected and studied. The performance of the swarm algorithm proposed in this study was verified through an actual sea area test. A USV was designed and manufactured by dividing the power and communication parts. The power system was equipped with a coulometer to monitor the battery state in real time to protect the system through a switch linked to the coulometer in the case of abnormalities in the battery and to prevent accidents. In addition, a communication system was established to process the sensor data and camera image data of the USV in real time. Consequently, the desired swarm formation was achieved through the separately constructed swarm control algorithm. Before the actual sea area test, individual performance tests of each sensor were conducted. Finally, the performance of the swarm algorithm was verified by conducting a sea area test. The performance of the controllers was confirmed to be good, and the swarm formation was confirmed to be successful.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 2076-3417
Relation: https://www.mdpi.com/2076-3417/13/5/3120; https://doaj.org/toc/2076-3417
DOI: 10.3390/app13053120
URL الوصول: https://doaj.org/article/a47c558aab11480c9fed976db1731091
رقم الأكسشن: edsdoj.47c558aab11480c9fed976db1731091
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:20763417
DOI:10.3390/app13053120