Open AccessImplementation of swarm intelligence algorithm on Autonomous Surface Vehicle (ASV)
Author(s) -
Chaidar Aji Nugroho,
Ahmad Vidura,
Matiur Rahman,
Muhammad Iqbal,
M. G. A. Satria,
Indra Jaya
Publication year - 2020
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.179
H-Index - 26
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/429/1/012045
Subject(s) - waypoint , swarm intelligence , python (programming language) , computer science , global positioning system , algorithm , swarm behaviour , artificial intelligence , real time computing , simulation , particle swarm optimization , programming language , telecommunications
Swarm Intelligence (SI) is an artificial intelligence algorithm related with collective work of individuals intelligence. To date, SI has been developed and installed on autonomous surface vehicle (ASV). ASV use global positioning system (GPS) in determining position, relative orientation to other ASV, and ability to move to desire direction. Aim of this research is to designing ASV and then apply SI algorithm on three ASV to moving simultaneously with preprogrammed formation. These three ASV were divided into two parts, master ASV as a master (order giver) and slave ASV as ASV that follow master ASV. SI algorithm developed using python as its programming language. The formation developed in this research is line and triangle formations. The ASV has 68 x 35 x 20 cm dimension and 0.7 m/s maximum speed. Autonomous system test show that ASV can follow waypoint with 2.3 m and 2.4 m average error at X axis and Y axis and the three-ASV can communicate each other to make formation.