Distributed control of autonomous watercraft dynamics using physicomimetics and robust synthesis for disturbance rejection

Abstract

This study investigates the guidance and control of an autonomous swarm of surface watercraft with focusing on distributed control laws in scenarios with and without boat dynamics. Through comprehensive simulations, we explore the behavior of boats under varying conditions in terms of analyzing their trajectories, velocities, yaw rates, and angles. The inclusion of boat dynamics significantly impacts these parameters for affecting the efficiency and convergence of boat trajectories towards the homing point. We observe that boats operating under dynamic conditions show much smoother convergence and demonstrate improved collision avoidance behaviors although their movements are slower due to the increased complexities introduced. The introduction of noise in simulations enhances realism and robustness regarding mimicking real-world scenarios. Our findings emphasize the importance of considering boat dynamics in autonomous systems where offering insights into energy-efficient control strategies for surface watercraft. This research contributes to the understanding of swarm behavior and creates a path for practical applications in marine robotics.

Keywords

• Distributed control
• Autonomous watercraft dynamics
• Physicomimetics
• USV
• PID
• Control and supervisory