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A calibration framework for swarming ASVs’ system design

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Title A calibration framework for swarming ASVs’ system design
 
Creator Abidin, Z Z
Hamzah, M S M
Arshad, M R
Ngah, U K
 
Subject Webots
Drosobots
Algorithm
Bio-Inspired
Methodological approach
Algorithms
 
Description 581-588
This paper is concerned with the virtual
simulation of Autonomous Surface Vessels (ASVs) named, Drosobots, using virtual
simulation software i.e. Webots™, and the pre-deployment in a swimming pool
environment based on an improved simplest navigation technique. Swimming pool
provides as a controlled calibration framework for the proposed swarming
algorithm. The performance of the system is determined by firstly, its
capability to allow the various robots to communicate amongst themselves in
order to reach the desired location and secondly, the use of optimization in
its searching strategy. By using basic theories of GPS steering, low-cost
microcontroller and straightforward wireless communication method, a framework
which takes into consideration both mechanical constraints in its physical
setup and the suitability of control methods is presented. Swarming robots work
as a team, propelled by slim-line water pump with cylindrical shape of body
hull. In order to increase the robot’s buoyancy, high density foam has been
added to the previous design and results of the new rudder simulation effect is
also been presented. Due to the delay of the NMEAs data and the limitation of
an
8-bit micro-controller, complex control has been deferred until sometime in the
future.
 
Date 2012-11-30T04:17:10Z
2012-11-30T04:17:10Z
2012-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/15155
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.41(6) [December 2012]