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Appl. Sci. 2018, 8(2), 193; https://doi.org/10.3390/app8020193

An Automatic Navigation System for Unmanned Surface Vehicles in Realistic Sea Environments

School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
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Received: 30 December 2017 / Revised: 17 January 2018 / Accepted: 23 January 2018 / Published: 28 January 2018
(This article belongs to the Section Computer Science and Electrical Engineering)

Abstract

In recent years, unmanned surface vehicles (USVs) have received notable attention because of their many advantages in civilian and military applications. To improve the autonomy of USVs, this paper describes a complete automatic navigation system (ANS) with a path planning subsystem (PPS) and collision avoidance subsystem (CAS). The PPS based on the dynamic domain tunable fast marching square (DTFMS) method is able to build an environment model from a real electronic chart, where both static and dynamic obstacles are well represented. By adjusting the S a t u r a t i o n , the generated path can be changed according to the requirements for security and path length. Then it is used as a guidance trajectory for the CAS through a dynamic target point. In the CAS, according to finite control set model predictive control (FCS-MPC) theory, a collision avoidance control algorithm is developed to track trajectory and avoid collision based on a three-degree of freedom (DOF) planar motion model of USV. Its target point and security evaluation come from the planned path and environmental model of the PPS. Moreover, the prediction trajectory of the CAS can guide changes in the dynamic domain model of the vessel itself. Finally, the system has been tested and validated using the situations of three types of encounters in a realistic sea environment. View Full-Text
Keywords: unmanned surface vehicle; automatic navigation system; path planning; dynamic domain; fast marching square; collision avoidance; model predictive control unmanned surface vehicle; automatic navigation system; path planning; dynamic domain; fast marching square; collision avoidance; model predictive control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Sun, X.; Wang, G.; Fan, Y.; Mu, D.; Qiu, B. An Automatic Navigation System for Unmanned Surface Vehicles in Realistic Sea Environments. Appl. Sci. 2018, 8, 193.

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