Pose planning of autonomous surface vehicle for passing through or around objects
Autonomous Surface Vessels, also referred to as Unmanned Surface Vessels (USVs), are revolutionizing maritime operations. The self-navigating vessels make use of GPS, LiDAR, and cameras for navigation and decision-making independent of human input. These vessels have found increased applicatio...
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Format: | Thesis-Master by Coursework |
Language: | English |
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Nanyang Technological University
2025
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Online Access: | https://hdl.handle.net/10356/182422 |
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Institution: | Nanyang Technological University |
Language: | English |
Summary: | Autonomous Surface Vessels, also referred to as Unmanned Surface Vessels (USVs),
are revolutionizing maritime operations. The self-navigating vessels make use of GPS,
LiDAR, and cameras for navigation and decision-making independent of human
input. These vessels have found increased applications in areas of use as varied as
military surveillance to oceanographic research.
The Maritime RobotX Challenge is a prestigious biennial global competition for
university students that advances innovation in autonomous maritime robotics and
builds technological advances with strengthened collaboration between academia and
industry through its teams from around the world.
A key aspect of this challenge is the structuring of powerful USVs that can most
easily perform a set of tasks. The particular research is focused on the design and
implementation of an appropriate pose-planning system for RobotX challenges:
avoiding obstacles, following paths, and circling around the targets.
The hybrid pose planning system was realized: An improved A* algorithm made for
global pose planning and a modified artificial potential field approach for local pose
planning. The system has been implemented on an ROS basis, and its key
components-task global path planner, local path planner, and planning bus have been
validated through simulations enabled within this environment. It was further
deployed on the WAM-V16 USV and tested on-site during the competition. It
provides valuable lessons in the design and application of USV pose planning
systems. |
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