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Publications
Hinostroza, M.A., Guedes Soares, C. and Xu, H.T. (2018), “Motion planning, guidance and control system for autonomous surface vessel”, Proceedings of the ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering (OMAE 2018), 17-22 June, Madrid, Spain
This paper is an extended version of work published in [10]. We extend our previous work by including simulations for path-planning algorithm, preliminary experiments and better presentation of the control system. 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 trajectory tracking algorithm. 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, GNSS positioning, propulsion DC motors, and wireless communication. From the experiments and numerical simulations, a good agreement was found.
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