USV Path Planning Using Potential Field Model

Abstract

This project aims to design, implement, and assess the performance of an unmanned surface vessel (USV) path planning with potential fields. The proposed algorithms are adaptations of the general potential field navigation method, tailored for the specific dynamics of USV path planning. A piecewise linear potential field model was implemented on a Clearpath USV using MATLAB and Simulink. The USV model and piecewise linear potential field model were tested in a Gazebo simulation and in the field. The simulations and real-world tests were compared to evaluate the performance of the potential field algorithms. The USV interacted with the repulsive and attractive fields successfully to maneuver around obstacles and boundaries to reach the objective.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2017
Accession Number
AD1046879

Entities

People

  • Nicholas A. Manzini

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Birds
  • Boundaries
  • Collision Avoidance
  • Computer Simulations
  • Control Systems
  • Dynamics
  • Global Positioning Systems
  • Guidance
  • Inertial Measurement Units
  • Motion Planning
  • Navigation
  • Robotics
  • Simulations
  • Unmanned Surface Vehicles
  • Unmanned Systems
  • Unmanned Vehicles

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Computational Modeling and Simulation
  • Robotics and Automation.

Technology Areas

  • Autonomy