Navigation, Guidance and Control of a catamaran robust to external disturbances

This paper includes the implementation of navigation, guidance, and control algorithms for the catamaran-shaped autonomous surface vehicle (ASV) with a thruster configuration that includes 4 smaller thrusters in x-configuration and one larger thruster for the surge motion. The algorithms are describ...

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Bibliographic Details
Published in:	OCEANS 2023 - Limerick pp. 1 - 7
Main Authors:	Obradovic, Juraj, Loncar, Ivan, Batos, Matko, Miskovic, Nikola
Format:	Conference Proceeding
Language:	English
Published:	IEEE 05-06-2023
Subjects:	allocator ASV Attitude control Behavioral sciences control guidance navigation Robustness Sensors Sonar Sonar navigation Transportation
Online Access:	Get full text
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Summary:	This paper includes the implementation of navigation, guidance, and control algorithms for the catamaran-shaped autonomous surface vehicle (ASV) with a thruster configuration that includes 4 smaller thrusters in x-configuration and one larger thruster for the surge motion. The algorithms are described with emphasis on the allocator algorithms for which customizations were made to improve maneuverability. An experiment was conducted to show better energy optimization after a bigger thruster was included for surge motion. Two different experiments were made in s Marine Robotics Unity Simulator (MARUS) to show maneuverability improvement and test the full path following setup.
DOI:	10.1109/OCEANSLimerick52467.2023.10244489