Developing a navigation, guidance and obstacle avoidance algorithm for an Unmanned Surface Vehicle (USV) by algorithms fusion
| Autor: | Aref Mohammadi-Aghdam, Elham Omrani, Ashkan Makhsoos, Ali Kiapei, Farshid Monhaseri, Mohammad-reza Abdollahzadeh, Yousef Salmani-Zakaria, Hamid Abdolmaleki, Hamid Jafarbiglu, Hossein Mousazadeh |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Obstacle avoidance algorithm
0209 industrial biotechnology Environmental Engineering Unmanned surface vehicle Computer science Potential field Ocean Engineering Thrust 02 engineering and technology Kalman filter Extended Kalman filter 020901 industrial engineering & automation Installation 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Algorithm |
| Zdroj: | Ocean Engineering. 159:56-65 |
| ISSN: | 0029-8018 |
| DOI: | 10.1016/j.oceaneng.2018.04.018 |
| Popis: | Many USVs are equipped with navigation, guidance and control (NGC) algorithms due to human errors that is present in manual navigation of surface vehicles. The Morvarid, a catamaran shaped boat is designed and developed for plotting hydrography map of harbours. To control it autonomously, a fusion algorithm based on EKF, search ball and potential field concept is developed. Some main parameters of dynamic model is derived based on experimental tests and the algorithm is evaluated using hardware-in-the-loop concept. The obstacle avoidance algorithm is assessed for different obstacles in size and position. It is concluded that although the developed algorithm is robust and precise even in the presence of environmental disturbances, however installing powerful thrusters would boost maneuverability more than that is. |
| Databáze: | OpenAIRE |
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