Abstract
This paper presents the development of autonomy capability for an unmanned surface vehicle (USV). The development mainly focuses on the high-level autonomy on perception, path planning, guidance and control to achieve real sea applications of the USV. First, visual recognition and point cloud data processing techniques are utilized to achieve a real-time perception of the object in the sea environment. Second, detailed path planning strategies are illustrated to plan the easily reachable path for different missions, and the classic guidance and heading controller are adopted to implement the path following algorithm. Subsequently, these autonomy algorithms run in the high-level computer and render the actuator commands for the low-level embedded control system. Finally, sea trials of the USV are conducted by attending the 2020 Zhuhai Wanshan International Intelligent Vessel Competition (IIVC) in Dong Ao Island of South China Sea. The USV accomplish three missions: 1) path following, 2) navigating around the obstacle, and 3) rescuing the drowning. Sea trial results verify the autonomy of the USV in terms of the achieved performances.
Highlights
In recent years, unmanned aerial vehicles and ground robots have made great achievements in some searching, mapping, and rescuing missions
By attending the Intelligent Vessel Competition (IIVC), team members of Lab of Advanced Robotic Marine Systems (ARMs) in Huazhong University of Science and Technology (HUST), China, developed the autonomy architecture and implemented the algorithms for the dedicated unmanned surface vehicle (USV) used in the competition
The competition puts forward the following missions, the difficulty level of which varies from the easy mission to the difficult one, in order to examine the autonomy of the USV: 1) path following, 2) navigating around the obstacle, and 3) rescuing the drowning, The competition was held in the open sea for four days, regardless of weather and waves
Summary
This paper presents the development of autonomy capability for an unmanned surface vehicle (USV). The development mainly focuses on the high-level autonomy on perception, path planning, guidance and control to achieve real sea applications of the USV. Detailed path planning strategies are illustrated to plan the reachable path for different missions, and the classic guidance and heading controller are adopted to implement the path following algorithm. These autonomy algorithms run in the high-level computer and render the actuator commands for the low-level embedded control system. Sea trial results verify the autonomy of the USV in terms of the achieved performances
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
