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The fast marching method based intelligent navigation of an unmanned surface vehicle

Liu, Y; Bucknall, R; Zhang, X; (2017) The fast marching method based intelligent navigation of an unmanned surface vehicle. Ocean Engineering , 142 pp. 363-376. 10.1016/j.oceaneng.2017.07.021. Green open access

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Abstract

Unmanned surface vehicles (USVs) have obtained increasing interests in recent decades. Because of the features of improved mission efficiency and decreased resource costs, applications of USVs can been seen in both civilian and naval areas. In order to efficiently and effectively achieve missions without any human intervention, a robust and intelligent navigation, guidance and control (NGC) system is vital for USV. This paper has therefore presented a novel NGC system designed for a USV named Springer. The system is developed by integrating multiple functional modules, which include a reliable navigation module that provides reliable position and heading information, a robust autopilot module enabling Springer tracking well the waypoints and an intelligent path planning module that is capable of generating feasible and practical waypoints. The path planning algorithm has been developed based upon the angle guidance fast marching square method, which is able to calculate the optimal path according to vehicle's motion constraints. The designed NGC system has been validated in both real field trials and computer based simulations proving that Springer USV is able to autonomously navigate in different maritime environments with the guidance of the NGC system.

Type: Article
Title: The fast marching method based intelligent navigation of an unmanned surface vehicle
Open access status: An open access version is available from UCL Discovery
DOI: 10.1016/j.oceaneng.2017.07.021
Publisher version: http://doi.org/10.1016/j.oceaneng.2017.07.021
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: Unmanned surface vehicle (USV),Path planning,Autonomous navigation, Fast marching method
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/1573571
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