Design an Adaptive Autopilot for an Unmanned Surface Vessel

Multi-under-actuated unmanned surface vehicles (USV) path tracking control is studied and decoupled by virtue of decentralized control. First, an improved integral line-of-sight guidance strategy is put forward and combined with feedback control to design the path tracking controller and realize the single USV path tracking in the horizontal plane. Second, graph theory is utilized to design the decentralized velocity coordination controller for USV formation, so that multiple USVs could consistently realize the specified formation to the position and velocity of the expected path. Third, cascade system theory and Lyapunov stability are used to respectively prove the uniform semi-global exponential stability of single USV path tracking control system and the global asymptotic stability and uniform local exponential stability of coordinated formation system. At last, simulation and field experiment are conducted to analyze and verify the advancement and effectiveness of the proposed algorithms in this paper.

Download Full-text

Data-driven unmanned surface vessel path following control method based on reinforcement learning

2019 Chinese Control And Decision Conference (CCDC) ◽

10.1109/ccdc.2019.8832655 ◽

2019 ◽

Author(s):

Weinan Deng ◽

Hao Li ◽

YuanQiao Wen

Keyword(s):

Reinforcement Learning ◽

Control Method ◽

Path Following ◽

Data Driven ◽

Path Following Control ◽

Unmanned Surface Vessel ◽

Surface Vessel

Download Full-text

The Autonomous Underwater Vehicle Integrated with the Unmanned Surface Vessel Mapping the Southern Ionian Sea. The Winning Technology Solution of the Shell Ocean Discovery XPRIZE

Remote Sensing ◽

10.3390/rs12081344 ◽

2020 ◽

Vol 12 (8) ◽

pp. 1344 ◽

Cited By ~ 5

Author(s):

Karolina Zwolak ◽

Rochelle Wigley ◽

Aileen Bohan ◽

Yulia Zarayskaya ◽

Evgenia Bazhenova ◽

...

Keyword(s):

Deep Water ◽

Autonomous Underwater Vehicle ◽

Underwater Vehicle ◽

Unmanned Vehicles ◽

Ionian Sea ◽

Automatic Data ◽

Multibeam Echosounder ◽

Synthetic Aperture Sonar ◽

Unmanned Surface Vessel ◽

Surface Vessel

The methods of data collection, processing, and assessment of the quality of the results of a survey conducted at the Southern Ionian Sea off the Messinian Peninsula, Greece are presented. Data were collected by the GEBCO-Nippon Foundation Alumni Team, competing in the Shell Ocean Discovery XPRIZE, during the Final Round of the competition. Data acquisition was conducted by the means of unmanned vehicles only. The mapping system was composed of a single deep water AUV (Autonomous Underwater Vehicle), equipped with a high-resolution synthetic aperture sonar HISAS 1032 and multibeam echosounder EM 2040, partnered with a USV (Unmanned Surface Vessel). The USV provided positioning data as well as mapping the seafloor from the surface, using a hull-mounted multibeam echosounder EM 304. Bathymetry and imagery data were collected for 24 h and then processed for 48 h, with the extensive use of cloud technology and automatic data processing. Finally, all datasets were combined to generate a 5-m resolution bathymetric surface, as an example of the deep-water mapping capabilities of the unmanned vehicles’ cooperation and their sensors’ integration.

Download Full-text