|
|
Publications
Hinostroza, M.A., Xu, H.T. and Guedes Soares, C. (2021), “Motion planning, guidance and control system for autonomous surface vessel”, Journal of Offshore Mechanics and Arctic Engineering, Vol. 143, 041202 (12 pages).
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 and control system were 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.
If you did not manage to obtain a copy of this paper: Request a copy of this article
For information about all CENTEC publications you can download: Download the Complete List of CENTEC Publications
|