Unmanned surface vehicles: An overview of developments and challenges
With growing worldwide interest in commercial, scientific, and military issues associated with
both oceans and shallow waters, there has been a corresponding growth in demand for the …
both oceans and shallow waters, there has been a corresponding growth in demand for the …
A constrained A* approach towards optimal path planning for an unmanned surface vehicle in a maritime environment containing dynamic obstacles and ocean …
Efficient path planning is a critical issue for the navigation of modern unmanned surface
vehicles (USVs) characterized by a complex operating environment having dynamic …
vehicles (USVs) characterized by a complex operating environment having dynamic …
[HTML][HTML] Risk-based implementation of COLREGs for autonomous surface vehicles using deep reinforcement learning
Autonomous systems are becoming ubiquitous and gaining momentum within the marine
sector. Since the electrification of transport is happening simultaneously, autonomous …
sector. Since the electrification of transport is happening simultaneously, autonomous …
COLREG-RRT: An RRT-based COLREGS-compliant motion planner for surface vehicle navigation
HTL Chiang, L Tapia - IEEE Robotics and Automation Letters, 2018 - ieeexplore.ieee.org
Motion planning for autonomous surface vehicles (ASVs) is challenging since surface
vessels are nonlinear underactuated kinodynamic systems with often large inertia. Thus …
vessels are nonlinear underactuated kinodynamic systems with often large inertia. Thus …
Autonomous maritime collision avoidance: Field verification of autonomous surface vehicle behavior in challenging scenarios
DKM Kufoalor, TA Johansen, EF Brekke… - Journal of Field …, 2020 - Wiley Online Library
We present results from sea trials for an autonomous surface vehicle (ASV) equipped with a
collision avoidance system based on model predictive control (MPC). The sea trials were …
collision avoidance system based on model predictive control (MPC). The sea trials were …
The branching‐course model predictive control algorithm for maritime collision avoidance
This article presents a new algorithm for short‐term maritime collision avoidance (COLAV)
named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is …
named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is …
Control of an unmanned surface vehicle with uncertain displacement and drag
WB Klinger, IR Bertaska… - IEEE Journal of …, 2016 - ieeexplore.ieee.org
Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate
the performance of two low-level controllers when displacement and drag properties are …
the performance of two low-level controllers when displacement and drag properties are …
Quantifying protocol evaluation for autonomous collision avoidance: Toward establishing COLREGS compliance metrics
Collision avoidance protocols such as COLREGS are written primarily for human operators
resulting in a rule set that is open to some interpretation, difficult to quantify, and challenging …
resulting in a rule set that is open to some interpretation, difficult to quantify, and challenging …
Hybrid collision avoidance for ASVs compliant with COLREGs rules 8 and 13–17
This paper presents a three-layered hybrid collision avoidance (COLAV) system for
autonomous surface vehicles, compliant with rules 8 and 13–17 of the International …
autonomous surface vehicles, compliant with rules 8 and 13–17 of the International …
Long-distance path planning for unmanned surface vehicles in complex marine environment
Many missions require unmanned surface vehicles to operate in complex environments over
large distances. Marine environments are dynamic in nature and change over time as a …
large distances. Marine environments are dynamic in nature and change over time as a …