Developing a navigation, guidance and obstacle avoidance algorithm for an Unmanned Surface Vehicle (USV) by algorithms fusion
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 a...
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| Published in: | Ocean engineering Vol. 159; pp. 56 - 65 |
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| Main Authors: | , , , , , , , , , |
| Format: | Journal Article |
| Language: | English |
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Elsevier Ltd
01.07.2018
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| ISSN: | 0029-8018, 1873-5258 |
| Online Access: | Get full text |
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| 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 tests and the algorithm is evaluated using hardware-in-the-loop concept. The obstacle avoidance algorithm is assessed for different obstacles in size and position. It is concluded that although the developed algorithm is robust and precise even in the presence of environmental disturbances, however installing powerful thrusters would boost maneuverability more than that is.
•The USV rigid body dynamic model is defined by combination of experimental, simulation and conformance to some texts.•Combing EKF, search ball and potential field algorithms in a fusion concept could navigate the USV more accurately.•A successful obstacle avoidance is possible by considering the velocity vector of USV and obstacle and size of obstacle. |
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| AbstractList | 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 tests and the algorithm is evaluated using hardware-in-the-loop concept. The obstacle avoidance algorithm is assessed for different obstacles in size and position. It is concluded that although the developed algorithm is robust and precise even in the presence of environmental disturbances, however installing powerful thrusters would boost maneuverability more than that is.
•The USV rigid body dynamic model is defined by combination of experimental, simulation and conformance to some texts.•Combing EKF, search ball and potential field algorithms in a fusion concept could navigate the USV more accurately.•A successful obstacle avoidance is possible by considering the velocity vector of USV and obstacle and size of obstacle. |
| Author | Jafarbiglu, Hamid Mohammadi-Aghdam, Aref Abdolmaleki, Hamid Kiapei, Ali Mousazadeh, Hossein Salmani-Zakaria, Yousef Omrani, Elham Makhsoos, Ashkan Monhaseri, Farshid Abdollahzadeh, Mohammad-reza |
| Author_xml | – sequence: 1 givenname: Hossein surname: Mousazadeh fullname: Mousazadeh, Hossein email: hmousazade@ut.ac.ir organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 2 givenname: Hamid surname: Jafarbiglu fullname: Jafarbiglu, Hamid organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 3 givenname: Hamid surname: Abdolmaleki fullname: Abdolmaleki, Hamid organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 4 givenname: Elham surname: Omrani fullname: Omrani, Elham organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 5 givenname: Farshid surname: Monhaseri fullname: Monhaseri, Farshid organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 6 givenname: Mohammad-reza surname: Abdollahzadeh fullname: Abdollahzadeh, Mohammad-reza organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 7 givenname: Aref surname: Mohammadi-Aghdam fullname: Mohammadi-Aghdam, Aref organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 8 givenname: Ali surname: Kiapei fullname: Kiapei, Ali organization: Engineer in Mechanical of Biosystems and Expert of Ports and Maritime Organization, Iran – sequence: 9 givenname: Yousef surname: Salmani-Zakaria fullname: Salmani-Zakaria, Yousef organization: Mechanical Engineering of Biosystems, University of Tehran, Iran – sequence: 10 givenname: Ashkan surname: Makhsoos fullname: Makhsoos, Ashkan organization: Mechanical Engineering of Biosystems, University of Tehran, Iran |
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