A Guidance Algorithm for Unmanned Surface Vehicle Exhibiting Sternward Motion

We propose a new dynamically feasible trajectory generation algorithm that incorporates sternward motion for unmanned surface vehicles. This work is motivated by riverine applications where the operating environment is large and poorly known. We extend a navigation approach for forward path planning into a more versatile framework that includes safe and dynamically feasible backward trajectories. We pose the backward trajectory generation problem as a finite-horizon optimal control problem and transform it into a nonlinear programming problem by utilizing the direct shooting method. The nonlinear programming problem is solved using the Hooke-Jeeves numerical algorithm. We provide successful simulation and field-trial results that demonstrate the performance of backward path planning algorithm.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Electrical Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2013

Author dc:creator

• Du, Shu

Chair dc:contributor.committeechair

• Stilwell, Daniel J.

Committee members dc:contributor.committeemember

• Woolsey, Craig A.
• Bailey, Scott M.

• path planning
• unmanned surface vehicle

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:1687

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/24011