Cooperative control system of multi-ASV: design and implementation

Aiming at designing cooperative autonomous surface vehicle (ASV), this paper proposed a cooperative control system mainly based on embedded controllers onboard. First, the composition of the system is introduced, including the monitoring terminal and the onboard ASV system. After that, the working principle of the whole system is introduced in details, including the networking communication of multiple ASV, the communication with the monitoring terminal, and the implementation of the independent navigation and formation algorithm based on embedded controllers of ASV. Finally, the effectiveness of cooperative control of multi-ASV system is verified by experiments in open water.