This article presents an experimental assessment of an Unmanned Surface Vehicle (USV) executing an approach behavior to several stationary targets in an obstacle field. A lattice-based trajectory planner is implemented with a priori knowledge of the vehicle characteristics. In parallel, a low-level controller is developed for the vehicle using a proportional control law. These systems are integrated on the USV control system using the Lightweight Communications and Marshalling (LCM) message passing system. Filtered vehicle-state information from onboard sensors is passed to the planner, which returns a least-cost, dynamically feasible trajectory for achieving the ascertained goal. The system was tested in a 750 m by 150 m area of the US Intracoastal Waterway in South Florida in the presence of wind and wave disturbances to characterize its effectiveness in a real-world scenario. The vehicle was able to replicate behavior predicted in simulations when navigating around obstacles. The approach distance to each target was favorably lower than the user-defined limit. Owing to the fact that the USV uses differential thrust for steering, the vehicle tracked the planned trajectories better at lower speeds.
- Dynamic Systems and Control Division
Experimental Evaluation of Approach Behavior for Autonomous Surface Vehicles
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Bertaska, IR, Alvarez, J, Sinisterra, A, von Ellenrieder, K, Dhanak, M, Shah, B, Švec, P, & Gupta, SK. "Experimental Evaluation of Approach Behavior for Autonomous Surface Vehicles." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems. Palo Alto, California, USA. October 21–23, 2013. V002T32A003. ASME. https://doi.org/10.1115/DSCC2013-3838
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