This paper presents a motion planning, guidance and control system for an Autonomous surface vessel in a practical maritime environment. The motion planning algorithm is based in the angle-guidance fast marching square method and the guidance system is based in the line-of-sight trajectory tracking algorithm. To validate the motion planning algorithm, numerical simulations were carried out to compute the optimal path in a static environment including various obstacles. The guidance system was tested with an autonomous surface vehicle tracking a pre-established trajectory including static obstacles. The autonomous surface vehicle is a self-propelled scaled ship model of 2.5 m equipped with sensors and actuators, inertial measurement unit, GNSS positioning system, propulsion DC motors, and wireless communication. From the experiments and numerical simulations, a good agreement was found.
- Ocean, Offshore and Arctic Engineering Division
Motion Planning, Guidance and Control System for Autonomous Surface Vessel
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Hinostroza, MA, Guedes Soares, C, & Xu, H. "Motion Planning, Guidance and Control System for Autonomous Surface Vessel." Proceedings of the ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering. Volume 11B: Honoring Symposium for Professor Carlos Guedes Soares on Marine Technology and Ocean Engineering. Madrid, Spain. June 17–22, 2018. V11BT12A016. ASME. https://doi.org/10.1115/OMAE2018-78537
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