Article In: orcid, scopus, cienciavitae

Motion Planning, Guidance, and Control System for Autonomous Surface Vessel

Journal of Offshore Mechanics and Arctic Engineering

Hinostroza, M.A. ; Xu, H.T. ; Guedes Soares, C. — 2021 — ASME

Key information

Authors:

Hinostroza, M.A. (Miguel Angel Hinostroza Muñoz); Xu, H.T. (Haitong Xu); Guedes Soares, C. (Carlos Guedes Soares)

Published in

August 2021

Abstract

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 on the angle-guidance fast-marching square method (AFMS), and the guidance system is based on the line-of-sight (LOS) 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 (ASV) 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 (IMU), global positioning system (GPS), propulsion direct current (DC) motors, and wireless communication. From the experiments and numerical simulations, a good agreement was found.

Publication details

Authors in the community:

Publication version

VoR - Version of Record

Publisher

ASME

Link to the publisher's version

https://asmedigitalcollection.asme.org/offshoremechanics/article-abstract/143/4/041202/1091423/Motion-Planning-Guidance-and-Control-System-for?redirectedFrom=fulltext

Title of the publication container

Journal of Offshore Mechanics and Arctic Engineering

First page or article number

041202-12

Volume

143

Issue

4

ISSN

0892-7219

DOI

10.1115/1.4049118

Fields of Science and Technology (FOS)

mechanical-engineering - Mechanical engineering

Keywords

  • motion planning
  • fast marching square method
  • autonomous surface vessels and model tests

Publication language (ISO code)

eng - English

Alternative identifier (URI)

http://dx.doi.org/10.1115/1.4049118

Rights type:

Restricted access

Financing entity

Fundação para a Ciência e a Tecnologia

Identifier for the funding entity: UIDB/UIDP/00134/2020