TY - GEN
T1 - Obstacle avoidance for unmanned sea surface vehicles
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
AU - Krishnamurthy, Prashanth
AU - Khorrami, Farshad
AU - Ng, Tzer Leei
N1 - Funding Information:
1 This work was supported in part by the Office of Naval Research (ONR) under contract Nos. N00014-04-M-0181 and N00014-06-C-0051.
PY - 2008
Y1 - 2008
N2 - In this paper, we describe a hierarchical system for path planning and obstacle avoidance for totally autonomous Unmanned Sea Surface Vehicles (USSVs). The proposed system is comprised of three major components: a wide-area planner based on the A* graph-search algorithm, a local-area planner based on our low-resource path-planning and obstacle avoidance algorithm GODZILA, and an inner-loop nonlinear tracking control law. The performance of the proposed system is demonstrated through simulations using our high-accuracy real-time Six Degree-of-Freedom (DOF) Hardware-In-The-Loop (HITL) simulation platform whose design and implementation have been documented in our recent papers. The HITL platform is capable of simultaneously simulating multiple USSVs and passive obstacles and incorporates a nonlinear dynamic model of the USSV including detailed characterizations of hydrodynamic effects, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for USSV control in the experimental testbed. The performance of the inner-loop controller has been validated through experimental tests which are described briefly in this paper and the experimental validation of the complete obstacle avoidance system is currently underway.
AB - In this paper, we describe a hierarchical system for path planning and obstacle avoidance for totally autonomous Unmanned Sea Surface Vehicles (USSVs). The proposed system is comprised of three major components: a wide-area planner based on the A* graph-search algorithm, a local-area planner based on our low-resource path-planning and obstacle avoidance algorithm GODZILA, and an inner-loop nonlinear tracking control law. The performance of the proposed system is demonstrated through simulations using our high-accuracy real-time Six Degree-of-Freedom (DOF) Hardware-In-The-Loop (HITL) simulation platform whose design and implementation have been documented in our recent papers. The HITL platform is capable of simultaneously simulating multiple USSVs and passive obstacles and incorporates a nonlinear dynamic model of the USSV including detailed characterizations of hydrodynamic effects, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for USSV control in the experimental testbed. The performance of the inner-loop controller has been validated through experimental tests which are described briefly in this paper and the experimental validation of the complete obstacle avoidance system is currently underway.
KW - Autonomous robotic systems
KW - Hardware-in-the-loop simulation
KW - Rule-based approaches
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U2 - 10.3182/20080706-5-KR-1001.4246
DO - 10.3182/20080706-5-KR-1001.4246
M3 - Conference contribution
AN - SCOPUS:79961019520
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -