Design and development of a low-cost Autonomous Surface Vehicle

Thirunavukkarasu, Gokul Sidarth; Patrick, Lachlan; Champion, Benjamin; Chua, Leok Poh; Huynh, Van Thanh; Joordens, Matthew

doi:10.1109/sysose.2017.7994972

Cited by 6 publications

(3 citation statements)

References 15 publications

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“…The field of mechatronics is advancing, unlocking greater potential for semi-or fully-autonomous surface vessels. Several prototypes have been built for environmental monitoring missions and ocean resource exploration [9,10,11,12,13]. Efforts towards autonomous inland ferries are also noteworthy, Norwegian University of Science and Technology developed an autonomous ferry prototype, named the milliAmpere [14].…”

Section: Relating Test Bedsmentioning

confidence: 99%

Design and Build of an Autonomous Catamaran Urban Cargo Vessel

Zhang,

Shuai,

Billet

et al. 2023

J. Phys.: Conf. Ser.

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This study introduces a novel test bed, named the Maverick, which aims to advance the field of autonomous inland waterborne freight transportation and facilitate its eventual implementation. More specifically, the Maverick focuses on operating in small waterways within urban areas, aligning its application scenario with the European project AVATAR. The hull form of the Maverick was selected to be a catamaran, as it offers several advantages, including a large open deck area, high transverse stability, and excellent maneuverability at low speeds. The Maverick is equipped with two 360-degrees-steerable azimuth thrusters, one at the bow and one at the stern. This configuration makes the Maverick over-actuated, and offers more advanced motion control possibilities compared to conventional rudder-propeller actuated vessels. The Maverick is composed out of modular building blocks combined with a flexible interface, which enables it to accommodate diverse control terminals for future developments. Furthermore, to illustrate the feasibility of the Maverick within an urban context, this study also includes results of several trail tests. The interactive communication framework that was successfully employed in the autonomous sailing experiment is introduced. The Maverick offers a versatile platform for testing and developing a wide range of technologies in situation awareness, autonomous sailing, smart waterway logistics, and other interconnected domains. Therefore, this innovative research vessel can pave the way for the development of a new freight transport mode within European urban areas, contributing valuable experiences to the field.

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Section: Relating Test Bedsmentioning

confidence: 99%

Design and Build of an Autonomous Catamaran Urban Cargo Vessel

Zhang,

Shuai,

Billet

et al. 2023

J. Phys.: Conf. Ser.

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“…Development of a generic NGC system for USVs is therefore a significantly challenging task. USVs generally used by the military on surveillance and patrolling applications have high speed capabilities (See, 2017), while USVs used for surveys, measurement or water monitoring tasks operate at slower speeds (Motwani, 2012;Thirunavukkarasu et al, 2017). USVs with varying shapes include the Catamaran type Springer (Naeem et al, 2006), MIT's AutoCat (Manley et al, 2000) and Charlie (Caccia et al, 2006); kayak type USVs developed at MIT (Goudey et.…”

Section: Introductionmentioning

confidence: 99%

“…USVs with varying shapes include the Catamaran type Springer (Naeem et al, 2006), MIT's AutoCat (Manley et al, 2000) and Charlie (Caccia et al, 2006); kayak type USVs developed at MIT (Goudey et. Al, 1998) and SCOUT (Curcio et al, 2005) and other low cost small USVs developed specific to different applications (Thirunavukkarasu et al, 2017;Jo et al, 2019). Relevant to heterogenous multi-USV control, CARACaS (Control Architecture for Robotic Agent Command and Sensing) was developed at the NASA Jet Propulsion Laboratory as an autonomy architecture for heterogenous multi-agent systems and provided foundational software infrastructure, core executive functions, and several default robotic technology modules (Wolf et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Maneuvering Ability-Based Weighted Potential Field Framework for Multi-USV Navigation, Guidance, and Control

Mina¹,

Singh²,

Min³

2020

mar technol soc j

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Numerous types of unmanned surface vehicles (USVs) are currently available for different applications with a wide spectrum of maneuvering capabilities. We present a generalized multi-USV navigation, guidance, and control framework adaptable to specific USV maneuvering response capabilities for dynamic obstacle avoidance. The proposed method integrates offline optimal path planning with a safety distance constrained A* algorithm, and an online extended adaptively weighted (EAW) artificial potential field-based path following approach with dynamic collision avoidance, based on USV maneuvering response times. The framework adaptively weighs inter-USV interaction, waypoint following, and collision avoidance based on USV maneuvering capabilities. The EAW system allows USVs with fast maneuvering abilities to react late and slow USVs to react sooner to oncoming moving obstacles gradually, with a carefully designed series of repulsive potential with diminishing weighting along the predicted path of detected moving obstacles, such that a smooth path is followed by the USV group with reduced cross-track error and reduced maneuvering effort. We emphasize the importance of such requirements in constrained and busy maritime environments such as narrow channels in busy harbors. Simulation results validate the proposed EAW artificial potential field framework for different sized multi-USV teams showing reduced cross-track error and maneuvering effort compared to the unweighted or traditional approach, for both slow- and fast-maneuvering multi-USV teams.

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