Experimental results of the cooperative operation of autonomous surface vehicles navigating in complex marine environment

• Published in: Ocean engineering 2021-01, Vol.219, p.108256, Article 108256
• Main Authors: Hinostroza, M.A., Xu, Haitong, Guedes Soares, C.
• Format: Article
• Language: English
• Subjects: Autonomous surface vehicles; Cooperative algorithm; Experimental validation; Model tests; Motion planning
• ISSN: 0029-8018; 1873-5258
• DOI: 10.1016/j.oceaneng.2020.108256

Experimental results are presented of the cooperative operation of two maritime autonomous surface vehicles (ASVs) executing a pre-defined task in a complex marine environment. The ASVs are equipped with algorithms for motion-planning, path-following and motion control, where the motion-planning algorithm is based in the angle-guidance fast marching square method, the path-planning module is based in the vector-field path-following method and the controller is a PID. The ASVs are two self-propelled models of 2.5 m and 3.2 m length instrumented with several sensors, actuators and communication unit, such as, inertial measurement units, Global positioning system, anemometers, accelerometers, inclinometers, DC motors and Wi-Fi communication. To monitor and command the ASVs, a real-time program was coded in LabVIEW 2018®. Finally, in order to validate the developed system, experimental tests were carried out in an open-door pool with low wind conditions, and from these experiments good capabilities of the system were found. •Experimental results are presented of the operation of two autonomous vessels executing a pre-defined task with obstacles.•The models incorporate modules for motion-planning, path-following and control.•The motion-planning is based in the angle-guidance fast marching square method.•The guidance module is based in vector-field path-following.•The experiments demonstrate that the vessels performs as expected.