Session: 06-04-04 Marine Engineering and Technology IV

Paper Number: 127043

127043 - A Formation Control for Multiple Unmanned Surface Vehicles Using Virtual Matrix and Leader in Ocean Engineering Basin 

This study focused on the development and model testing of the formation maintenance for multiple unmanned surface vehicles (USVs). Designed as catamarans, these USVs were equipped with a global positioning system (GPS), an inertial measurement unit (IMU) for precise position measurement, a 2-dimensional (2D) light detection and ranging (LiDAR) system, and a camera for environmental perception. Thrusters positioned between the port and starboard sides enabled precise turning maneuvers. The robot operating system (ROS) was utilized to enhance communication, conveying data such as position, orientation, and situational insights from various sensors. To sustain the formation of these USVs, a method combining a virtual leader with a virtual matrix was instituted. This approach involved generating an n × m matrix centered on the virtual leader vessel, with each matrix cell assigned a distinct number. Moreover, to ensure flexibility in the size of the virtual matrix, the row distance and the column distance could be set according to the desired formation. USVs were designed to follow these cell numbers, which simplified both the maintenance and modification of their formation.

In order to validate the efficacy of this virtual matrix strategy, model tests covering an array of scenarios were carried out at the Ocean Engineering Basin. The Ocean Engineering Basin, being an indoor testing environment, presented unique challenges due to the non-operability of GPS systems. Recognizing this limitation, the team integrated an ultrasonic sensor-based Beacon system, ensuring precise indoor positioning and enhancing the USVs' navigational accuracy within such confines. Specifically, a virtual leader vessel and a 3 x 3 virtual matrix were established in the control center. Each USV was assigned a specific cell to follow, and this information was communicated via ROS. Guided by the line of sight (LOS) method and the proportional derivative (PD) control methods, each USV followed its allocated cell. Scenarios were designed to enable rotation while preserving columnar or horizontal formations, considering the basin's dimensions. Test outcomes demonstrated that the USVs adeptly maintained their formation, consistently aligning with the cells defined by the virtual leader and matrix.

Presenting Author: Jung-Hyeon Kim Pukyong National University

Presenting Author Biography: Jung-Hyeon Kim

Born: October 3, 1996
Education: Bachelor's and Master's degree from Pukyong National University and currently pursuing a doctor's degree at the same University
Master's Thesis: Development of Automatic Gain Tuning Algorithm using Ship Operation Data

Jung-Hyeon Kim, born in 1996, completed his Master's degree at Pukyong National University, where he contributed significantly to marine engineering research through his thesis on the development of an automatic gain-tuning algorithm utilizing ship operation data. Currently, he is progressing with his doctoral studies since March 2023 in the same esteemed institution.

Research Interests: Marine mobility control, Swarming operation

Contact: hyeony96@pukyong.ac.kr

Authors:

Jung-Hyeon Kim Pukyong National University
Si-Woong Choi Pukyong National University
Hui-Hun Son Pukyong National University
Do-Kyun Kim Pukyong National University
Dong-Han Kim Pukyong National University
Jong-Yong Park Pukyong National University