Obstacle avoidance for unmanned sea surface vehicles: A hierarchical approach

Prashanth Krishnamurthy, Farshad Khorrami, Tzer Leei Ng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we describe a hierarchical system for path planning and obstacle avoidance for totally autonomous Unmanned Sea Surface Vehicles (USSVs). The proposed system is comprised of three major components: a wide-area planner based on the A* graph-search algorithm, a local-area planner based on our low-resource path-planning and obstacle avoidance algorithm GODZILA, and an inner-loop nonlinear tracking control law. The performance of the proposed system is demonstrated through simulations using our high-accuracy real-time Six Degree-of-Freedom (DOF) Hardware-In-The-Loop (HITL) simulation platform whose design and implementation have been documented in our recent papers. The HITL platform is capable of simultaneously simulating multiple USSVs and passive obstacles and incorporates a nonlinear dynamic model of the USSV including detailed characterizations of hydrodynamic effects, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for USSV control in the experimental testbed. The performance of the inner-loop controller has been validated through experimental tests which are described briefly in this paper and the experimental validation of the complete obstacle avoidance system is currently underway.

Original languageEnglish (US)
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Volume17
Edition1 PART 1
DOIs
StatePublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

Fingerprint

Collision avoidance
Motion planning
Hardware
Hierarchical systems
Testbeds
Dynamic models
Hydrodynamics
Controllers
Sensors

Keywords

  • Autonomous robotic systems
  • Hardware-in-the-loop simulation
  • Rule-based approaches

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Krishnamurthy, P., Khorrami, F., & Ng, T. L. (2008). Obstacle avoidance for unmanned sea surface vehicles: A hierarchical approach. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.4246

Obstacle avoidance for unmanned sea surface vehicles : A hierarchical approach. / Krishnamurthy, Prashanth; Khorrami, Farshad; Ng, Tzer Leei.

Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Vol. 17 1 PART 1. ed. 2008.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Krishnamurthy, P, Khorrami, F & Ng, TL 2008, Obstacle avoidance for unmanned sea surface vehicles: A hierarchical approach. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 7/6/08. https://doi.org/10.3182/20080706-5-KR-1001.4246
Krishnamurthy P, Khorrami F, Ng TL. Obstacle avoidance for unmanned sea surface vehicles: A hierarchical approach. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.4246
Krishnamurthy, Prashanth ; Khorrami, Farshad ; Ng, Tzer Leei. / Obstacle avoidance for unmanned sea surface vehicles : A hierarchical approach. Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Vol. 17 1 PART 1. ed. 2008.
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