Accession Number:

AD1046879

Title:

USV Path Planning Using Potential Field Model

Descriptive Note:

Technical Report

Corporate Author:

Naval Postgraduate School Monterey United States

Personal Author(s):

Report Date:

2017-09-01

Pagination or Media Count:

113.0

Abstract:

This project aims to design, implement, and assess the performance of an unmanned surface vessel USV path planning with potential fields. The proposed algorithms are adaptations of the general potential field navigation method, tailored for the specific dynamics of USV path planning. A piecewise linear potential field model was implemented on a Clearpath USV using MATLAB and Simulink. The USV model and piecewise linear potential field model were tested in a Gazebo simulation and in the field. The simulations and real-world tests were compared to evaluate the performance of the potential field algorithms. The USV interacted with the repulsive and attractive fields successfully to maneuver around obstacles and boundaries to reach the objective.

Subject Categories:

  • Marine Engineering
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE