Abstract
Unmanned marine vehicles are useful tools for various hydrographical 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 waypoint 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.
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Naeem, W., Irwin, G.W. (2010). An Automatic Collision Avoidance Strategy for Unmanned Surface Vehicles. In: Li, K., Li, X., Ma, S., Irwin, G.W. (eds) Life System Modeling and Intelligent Computing. ICSEE LSMS 2010 2010. Communications in Computer and Information Science, vol 98. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15859-9_26
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DOI: https://doi.org/10.1007/978-3-642-15859-9_26
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