Development of the USV path planner based on the unstable mode
Abstract
Development of the USV path planner based on the unstable mode
Incoming article date: 12.11.2017In the article, the method of designing the path planning on the basis of an unstable mode is described. This method is based on the bionic approach and does not require mapping, it reduces requirements for the sensor subsystem. In this article, we propose a method of obstacle avoidance in which an unstable mode is realized in a separate dynamic link. The output of the dynamic link corrects the desired course of unmanned surface vehicle (USV). This allows to set the unstable trajectory of motion only at the planning level, and at the regulatory level to function in a stable mode. In addition, this approach allows you to plan the direction of detour travel. Detailed description of the proposed path planner, as well as the results of the research in Matlab are provided in the article.
Keywords: Control system, unstable mode, path planner, unmanned boat, obstacle avoidance