Formation control of multiple passive type boats for sea surveillance

Halil Beglerovic, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposes a novel concept of distributed sea surveillance system which consists of an active leader boat and multiple passive tethered follower boats for distributed sensing on the sea. The active leader pulls the follower boats and the trajectory of each follower is controlled by a rudder attached to it. The passive follower boats are energy efficient and lightweight, and many follower boats can be deployed simultaneously. By tethering many passive boats, we can make a formation and cover a large area for the surveillance. The followers keep the formation using a decentralized control algorithm. In this paper, we propose a formation control method with obstacle avoidance function for multiple passive follower boats and the simulation result illustrates the validity of the proposed control method. We also develop passive follower boats and conduct experiments for realizing several formations of two passive boats by using the flow of the river.

Original languageEnglish
Title of host publicationSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages869-874
Number of pages6
ISBN (Electronic)9781509033294
DOIs
Publication statusPublished - 2017 Feb 6
Event2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan
Duration: 2016 Dec 132016 Dec 15

Publication series

NameSII 2016 - 2016 IEEE/SICE International Symposium on System Integration

Other

Other2016 IEEE/SICE International Symposium on System Integration, SII 2016
Country/TerritoryJapan
CitySapporo
Period16/12/1316/12/15

ASJC Scopus subject areas

  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Optimization

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