An intelligent integrated navigation and control solution for an unmanned surface craft

Abstract

-An adaptive navigation and control algorithm is presented in this paper based on fuzzy logic and optimal control techniques and applied on an unmanned surface vehicle platform. The navigation system consists of an extended Kalman filter with time-varying parameters. Whilst the autopilots include a fuzzy logic based linear quadratic Gaussian controller and a model predictive controller optimized using a genetic algorithm. Both the controllers use the output of the adaptive navigation system as their feedback and therefore creates an integrated system. A multiple waypoint following scenario is considered and tested in real time. Experimental results are shown that demonstrate the efficacy of the proposed system.

Protocolo de Comunicação para Frota de Embarcações de Superfície não Tripuladas

“…Embarcações de superfície não tripuladas (USVs) dispensam equipe de guarnição. Um USV apresenta uma estrutura física (casco), um sistema de propulsão, um sistema de coleta de dados de sensores, um sistema de comunicação, um sistema de supervisão (na maioria das vezes, denominado estação base) e um sistema de guiagem, navegação e controle (Guidance, Navigation and Control, GNC) que integra os demais sistemas (Naeem et al, 2009;Liu et al, 2016;Villa et al, 2016).…”

Aspects of a reliable autonomous navigation and guidance system for an unmanned surface vehicle

“…Due to the nature of the KF, the position distributions of these three components can be described using the Gaussian probability density functions (pdf) given by (2), (3) and (4), respectively, where r denotes the true position of the USV.…”

“…To achieve this, Kalman filtering (KF) has been widely used to improve the signal accuracy [1], [2] and [3]. In [4], the KF was applied to fuse multiple measurements from different sensors to give a more accurate position information of the USV.…”

Obstacle Avoidance Approaches for Autonomous Navigation of Unmanned Surface Vehicles

“…Since their first development, the military community showed interest in Unmanned Surface Vehicles (USVs) for their deployment in force protection and surveillance scenarios (Bertram, 2008). Other examples are given by the Spartan produced by the US Space and Naval Warfare System Center (SSC) in San Diego, the Delfim developed by the Portuguese Dynamical Systems and Ocean Robotics (DSOR) Laboratory (Alves et al, 2006), and the Springer developed by Plymouth University (Naeem and Sutton, 2009). Most of the vessels are dual-purpose vehicles, i.e.…”