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Autonomy and Control of Swarm USVs with Self-assembly and Picking Objects Capabilities

Safaei, Omid Reza | 2022

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 55316 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan
  7. Abstract:
  8. Today, robots have been widely used in various tasks. Swarm robots are the focus of many researchers because of their low cost and their flexibility. However, due to the nature of dynamics in water and locomotion systems in it, very few of them have been developed. Applications of Swarm Robotics at sea include: the formation of temporary sea bridges, the collection of marine litter, assistance to large ships for maneuvering in ports, and carrying of oceanographic sensors. Therefore, the purpose of this study is to design a system for self-control and autonomy of unmanned surface robots with the ability to connect and carry objects. First, the robot was modeled according to its hydrodynamic equation by Java programming language. The path-planning was then becoming available by a combination of two controllers PID and the desaturated thrust direction. Speed control and collision control were also designed. The robot’s models performed the docking and covering algorithms independently and autonomously, which were eventually able to form a structure. Modeling tests were matched with the main sources of the robot. In Java, graphical modeling with numerical modeling of robots was obtained using the Champagne-Bogachki algorithm. The combination of the two directional controllers had a shorter response time than the separate controls, about one second, and also showed significant damping. In the test of covering a square with a side of 6 tenths of a meter, all the robots connected to each other in the target area and formed a floating structure. In general, an algorithm for moving autonomous and modular swarm robots (which can be connected to each other) independently was obtained, which has the ability to lead the robots to form a structure on the coverage target independently by receiving the its coordination
  9. Keywords:
  10. Autonomy ; Self Assembly ; Unmanned Aerial Vehicles (UAV) ; Marine Robotics ; Swarm Robotics ; Unmanned Surface Vehicles (USVs) ; Proportional-Integral-Derivative (PID)Controller

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