Developing a navigation, guidance and obstacle avoidance algorithm for an Unmanned Surface Vehicle (USV) by algorithms fusion
Abstract
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...
Paper Details
Title
Developing a navigation, guidance and obstacle avoidance algorithm for an Unmanned Surface Vehicle (USV) by algorithms fusion
Published Date
Jul 1, 2018
Journal
Volume
159
Pages
56 - 65
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Notes
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