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Aspects of a Reliable Autonomous Navigation and Guidance System for an Unmanned Surface Vehicle

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 Green open access

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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
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 > 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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