NISCAIR Online Periodicals Repository

NISCAIR ONLINE PERIODICALS REPOSITORY (NOPR)  >
NISCAIR PUBLICATIONS >
Research Journals >
Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.41 [2012] >
IJMS Vol.41(6) [December 2012] >


Title: A calibration framework for swarming ASVs’ system design
Authors: Abidin, Z Z
Hamzah, M S M
Arshad, M R
Ngah, U K
Keywords: Webots
Drosobots
Algorithm
Bio-Inspired
Methodological approach
Algorithms
Issue Date: Dec-2012
Publisher: NISCAIR-CSIR, India
Abstract: 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.
Page(s): 581-588
CC License:  CC Attribution-Noncommercial-No Derivative Works 2.5 India
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Source:IJMS Vol.41(6) [December 2012]

Files in This Item:

File Description SizeFormat
IJMS 41(6) 581-588.pdf657.19 kBAdobe PDFView/Open
 Current Page Visits: 592 
Recommend this item

 

National Knowledge Resources Consortium |  NISCAIR Website |  Contact us |  Feedback

Disclaimer: NISCAIR assumes no responsibility for the statements and opinions advanced by contributors. The editorial staff in its work of examining papers received for publication is helped, in an honorary capacity, by many distinguished engineers and scientists.

CC License Except where otherwise noted, the Articles on this site are licensed under Creative Commons License: CC Attribution-Noncommercial-No Derivative Works 2.5 India

Copyright © 2012 The Council of Scientific and Industrial Research, New Delhi. All rights reserved.

Powered by DSpace Copyright © 2002-2007 MIT and Hewlett-Packard | Compliant to OAI-PMH V 2.0

Home Page Total Visits: 622085 since 06-Feb-2009  Last updated on 13-Nov-2014Webmaster: nopr@niscair.res.in