An Automatic Collision Avoidance Strategy for Unmanned Surface Vehicles
Unmanned marine vehicles are useful tools for various hy-drographical tasks especially when operating for extended periods and in hazardous environments. The autonomy of these vehicles depends on the design of robust navigation, guidance and control systems. This paper concerns the preliminary design of an automatic guidance system for unmanned surface vehicles based on standardised rules defined by the International Maritime Organisation. A guidance system determines reasonable and safe actions in order to complete a task at hand. Thus, autonomous guidance can be regarded as the mechanism that brings self-reliance to the whole system. The strategy here is based on way-point guidance by line-of-sight coupled with a manual biasing scheme. Simulation results demonstrate the functioning of the proposed approach for multiple stationary as well as dynamic obstacles.
Unmanned surface vehicles obstacle detection and avoidance navigation guidance and control
Wasif Naeem George W.Irwin
Intelligent Systems and Control School of Electronics, Electrical Engineering and Computer Science,Queens University Belfast, Belfast BT9 5AH, UK
国际会议
无锡
英文
184-191
2010-09-17（万方平台首次上网日期，不代表论文的发表时间）