Song, R;
Liu, W;
Liu, Y;
Bucknall, R;
(2016)
Aspects of a Reliable Autonomous Navigation and Guidance System for an Unmanned Surface Vehicle.
In: Zande, J and Kirkwood, B, (eds.)
OCEANS’16 MTS/IEEE Monterey.
IEEE
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Abstract
This paper describes a novel navigation and guidance (NG) system designed to address the issue of receiving unreliable navigational data considering an unmanned surface vehicles (USVs). In the NG system, a confidence rate determination method has been designed to identify the uncertainty of the acquired data. According to the confidence rate, the risks from inaccurate data can be properly analysed facilitating the system generating a more reliable guidance route. The route is calculated using a newly developed algorithm named the constrained FM*. The new NG system has been verified in simulation environments with results proving the effectiveness and capabilities of the system.
Type: | Proceedings paper |
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Title: | Aspects of a Reliable Autonomous Navigation and Guidance System for an Unmanned Surface Vehicle |
Event: | OCEANS’16 MTS/IEEE Monterey, 19-23 September 2016, Monterey, California, USA |
Location: | Monterey, CA |
Dates: | 19 September 2016 - 23 September 2016 |
ISBN-13: | 9781509015375 |
Open access status: | An open access version is available from UCL Discovery |
DOI: | 10.1109/OCEANS.2016.7761415 |
Publisher version: | https://doi.org/10.1109/OCEANS.2016.7761415 |
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. |
Keywords: | confidence level; fast marching; path planning; USV |
UCL classification: | UCL 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/1568905 |
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