DEVELOPMENT OF USV AUTONOMY: ARCHITECTURE,IMPLEMENTATION AND SEA TRIALS

Brodogradnja

article

Liu, Chuan¹  Xiang, Xianbo¹  Huang, Jian²  Yang, Shaolong¹  Zhang, Shaoze¹  Su, Xiang¹  Zhang, Yunfei³ 

[1] School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology 430074;Southern Marine Science and Engineering Guangdong Laboratory ,(Zhuhai), Zhuhai 519080, China , Zhuhai Yunzhou Intelligence Technology Ltd.;Southern Marine Science and Engineering Guangdong Laboratory ,(Zhuhai), Zhuhai 519080, China Zhuhai Yunzhou Intelligence Technology Ltd.

关键词: Unmanned surface vehicle (USV);    High-level autonomy;    Perception;    Pathplanning;    Guidance and control;    Sea trials;   

DOI  :  10.21278/brod73105

学科分类：工程和技术（综合）

来源: Brodarski Institut

【 摘 要 】

This paper presents the development of autonomy capability for an unmanned surfacevehicle (USV). The development mainly focuses on the high-level autonomy on perception,path planning, guidance and control to achieve real sea applications of the USV. First, visualrecognition and point cloud data processing techniques are utilized to achieve a real-timeperception of the object in the sea environment. Second, detailed path planning strategies areillustrated to plan the easily reachable path for different missions, and the classic guidance andheading controller are adopted to implement the path following algorithm. Subsequently, theseautonomy algorithms run in the high-level computer and render the actuator commands for thelow-level embedded control system. Finally, sea trials of the USV are conducted by attendingthe 2020 Zhuhai Wanshan International Intelligent Vessel Competition (IIVC) in Dong AoIsland of South China Sea. The USV accomplish three missions: 1) path following, 2)navigating around the obstacle, and 3) rescuing the drowning. Sea trial results verify theautonomy of the USV in terms of the achieved performances.

【 授权许可】

CC BY