Bucknall, RWG;
Liu, YC;
Song, WW;
(2014)
Autonomous navigation system for unmanned surface vehicles.
In:
Proceedings of the 13th International Conference on Computer and IT Applications in the Maritime Industries, COMPIT’14.
(pp. pp. 123-135).
COMPIT: Redworth, UK.
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Abstract
This paper presents work on the development of a real-time autonomous navigation system for Unmanned Surface Vehicles (USVs). The navigation system being developed is using an embedded hosting platform consisting of navigational data fusion processes together with algorithms used for path planning and collision avoidance when the USV is operating alone or in cooperation. An improved A* path planning algorithm based on rasterized map is developed for single USV operation; whereas the fast marching square algorithm is implemented for multiple USVs. Both algorithms have been tested using a practical simulation environment. The resulting trajectories are guaranteed to be the shortest collision-free path.
| Type: | Proceedings paper |
|---|---|
| Title: | Autonomous navigation system for unmanned surface vehicles |
| Event: | 13th International Conference on Computer and IT Applications in the Maritime Industries, COMPIT’14 |
| Location: | Redworth |
| Dates: | 12 May 2014 - 14 May 2014 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | http://data.hiper-conf.info/compit2014_redworth.pd... |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Maths and Physical Sciences |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1460924 |
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