Implementation of swarm intelligence algorithm on Autonomous Surface Vehicle (ASV)

Abstract

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.