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Publicações
Hinostroza, M.A., Xu, H.T. e Guedes Soares, C. (2018), “Path-planning and path-following control system for autonomous surface vessel”, Maritime Transportation and Harvesting of Sea Resources, Guedes Soares, C. & Teixeira A.P. (Eds.), Taylor & Francis Group, London, UK, pp. 991-998
A path-planning and path-following algorithm for autonomous surface vessels is presented. The path-planning algorithm is based in the angle-guidance fast marching square method and the path-following is based in the line-of-sight tracking algorithm. In order to validate the path-planning algorithm, numerical simulations were carried out to search the optimal path in a static environment of 50x20 m2 of area including various obstacles. The path-following algorithm was tested with an autonomous surface vehicle tracking a pre-established trajectory including static obstacles. The autonomous surface vehicle is a self-running scaled ship model of 2.5 m equipped with motions sensors, positioning GPS, propulsion DC motors, wi-fi shore communication. From the experiments and numerical simulation a good agreement was found.
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