A Swarming System for Multiple Autonomous 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 (ASVs). Designed as catamarans, these ASVs were equipped with a various of sensor, such as an inertial measurement unit (IMU) and 2-dimensional (2D) light detection and ranging (LiDAR) system. The robot operating system 1 (ROS) was utilized to enhance communication, conveying data such as position, orientation, and situational insights from various sensors. To sustain the formation of these ASVs, a method combining a virtual leader with a virtual matrix was instituted. ASVs were designed to follow each cell numbers, which simplified both the maintenance and modification of their formation. To validate the efficacy of this virtual matrix approach, model tests covering an array of scenarios were carried out at the Ocean Engineering Basin. The indoor Ocean Engineering Basin’s lack of GPS operability led to the integration of an ultrasonic sensor-based Beacon system for precise positioning and enhanced navigational accuracy of the ASVs. Scenarios were designed to enable rotation while preserving row and column formations, considering the basin’s dimensions. Test outcomes demonstrated that the ASVs adeptly maintained their formation, consistently aligning with the cells defined by the virtual leader and matrix.