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A Calibration Framework for Swarming ASVs’ System Design

Zulkifli Zainal Abidin, Mohd Salzahrin, Mohd Rizal Arshad, Umi Kalthum Ngah


This paper presents a 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. The swimming pool provides 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.
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 are also provided. No complex control is adopted due to the delay of the NMEAs data and the limitation of an 8-bit micro-controller. The potential of our simple animal inspired robot prototypes is verified and demonstrated in this study.

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