Development of a safety-enhanced motion control system for unmanned surface vehicles

• Main Author: Yan, Zhenqi
• Other Authors: Chen I-Ming
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2025
• Subjects: Engineering; Motion control; Unmanned surface vehicles; Emergency stop
• Online Access: https://hdl.handle.net/10356/182638
• Institution: Nanyang Technological University

This dissertation presents the development of a safety-enhanced motion control system for autonomous surface vehicles (USVs) in response to the challenges posed by the RobotX Challenge. A modular and scalable framework integrating hardware and software systems was designed to ensure safe and efficie...