A hierarchical control and obstacle avoidance system for Unmanned Sea Surface Vehicles

P. Krishnamurthy, F. Khorrami
<span title="">2011</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wjd7b2sxyfahnaei4xvi46vwsu" style="color: black;">IEEE Conference on Decision and Control and European Control Conference</a> </i> &nbsp;
In this paper, the development of a hierarchical control, path planning, and obstacle avoidance system for autonomous operation of Unmanned Sea Surface Vehicles (USSVs) in uncertain cluttered environments (e.g., littoral environments) is described. The system is designed with a modular structure incorporating a robust inner-loop controller and a hierarchical combination of wide-area, intermediate-area, and localarea planning and obstacle avoidance algorithms. The performance of the proposed
more &raquo; ... em has been demonstrated through Hardware-In-The-Loop (HITL) and experimental tests. The HITL simulation platform incorporates detailed dynamics of the USSV including hydrodynamic effects as well as emulation of sensors and instrumentation onboard the USSV including Radar. The HITL platform can simultaneously simulate multiple USSVs and passive obstacles and provides the computer which runs the controls and obstacle avoidance algorithms with the exact environment which it sees when operating in the experimental USSV testbed.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2011.6161533">doi:10.1109/cdc.2011.6161533</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/cdc/KrishnamurthyK11.html">dblp:conf/cdc/KrishnamurthyK11</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3w3n3r5x2najfkcoypn3br23be">fatcat:3w3n3r5x2najfkcoypn3br23be</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170830034037/http://folk.ntnu.no/skoge/prost/proceedings/cdc-ecc-2011/data/papers/2356.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/04/ee/04ee13adbae3ebc432c35d288a09b07ab3d58a24.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2011.6161533"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>