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A distributed navigation and guidance system for autonomous vessel
KTH, School of Electrical Engineering and Computer Science (EECS).
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Using distributed micro-controllers in an autonomous vessel can result in higher robustness and lower energy consumption compared to a traditional centralized approach. However adapting traditional software (e.g. navigation and guidance systems) for a distributed microcontroller system is a complex and challenging task.

In this thesis a software solution for controlling autonomous vessels with on board distributed micro-controllers is presented. It is capable of controlling the vehicle by itself, including routing around obstacles in moderately complex environments, or act as an interface to another computer. The routing capabilities come from the use of a high-level path-planner based on RRT, and a low-level vehicle controller based on potential fields to follow the path from the path-planner. By using these methods together the software is capable maneuvering a sailboat between waypoints.

In our experiments distributed computing is investigated for the path planning and evaluated in terms of computational time for 1,2 and 3 nodes. A parallelization technique called OR parallelization was tested and it offered a reduction in computational time by 27% with two nodes and 36% for three nodes against a single node. Nevertheless, this gain may not be, significant enough to warrant the extra complexity.

Abstract [sv]

Att använda distribuerade mikro-controllers i en autonom farkost kan resultera i ett robustare och energisnålare system jämfört med ett traditionellt centraliserat system, dock så är det en utmanande och komplex uppgift att anpassa existerande mjukvara för navigation och styrning till ett sådant system.

I denna rapport presenteras en mjukvarulösning för styrning av autonoma farkoster med ett distribuerat system av mikro-controllers som finns ombord. Mjukvaran kan antingen kontrollera farkosten själv (inklusive rutt-planering runt hinder i måttligt komplexa miljöer), eller fungera som gränssnitt till ett annat system. Rutt-planeringen görs av en planeringsalgoritm som heter RRT tillsammans en lågnivåkontroller som använder sig av potentialfält för att följa rutten från planeraren. Med dessa två steg så kan mjukvaran styra en segelbåt mellan givna platser.

Distribuerade beräkningar undersöks för ruttplaneringen och utvärderas i termer av beräkningstid för 1,2 och 3 noder. En parallelliseringsteknik som heter OR-parallellisering testades och gav prestandavinster på 27% respektive 36% för 2 och 3 noder. Författaren tycker dock inte att den prestandavinsten är hög nog för att väga upp den extra komplexitet som den medför.

Place, publisher, year, edition, pages
2019. , p. 48
Series
TRITA-EECS-EX ; 2019:469
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-255011OAI: oai:DiVA.org:kth-255011DiVA, id: diva2:1337253
Examiners
Available from: 2019-07-12 Created: 2019-07-12 Last updated: 2019-07-12Bibliographically approved

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