Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves

Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves

Most of the present work for unmanned surface vehicle (USV) navigation does not take into account environmental disturbances such as ocean waves, winds, and currents. In some scenarios, waves should be treated as special case of dynamic obstacle and can be critical to USV’s safety. For the first tim...

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Main Author: Oren Gal
Format: Article
Language:English
Published: Hindawi Limited 2011-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2011/703959
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spelling doaj-1aa18d2dc6704c5495fea1bbea9dce412020-11-25T00:37:28ZengHindawi LimitedJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/703959703959Unified Approach of Unmanned Surface Vehicle Navigation in Presence of WavesOren Gal0Department of Mechanical Engineering, Technion, Israel Institute of Technology, Haifa 32000, IsraelMost of the present work for unmanned surface vehicle (USV) navigation does not take into account environmental disturbances such as ocean waves, winds, and currents. In some scenarios, waves should be treated as special case of dynamic obstacle and can be critical to USV’s safety. For the first time, this paper presents unique concept facing this challenge by combining ocean waves' formulation with the probabilistic velocity obstacle (PVO) method for autonomous navigation. A simple navigation algorithm is presented in order to apply the method of USV’s navigation in presence of waves. A planner simulation dealing with waves and obstacles avoidance is introduced.http://dx.doi.org/10.1155/2011/703959
collection DOAJ
language English
format Article
sources DOAJ
author Oren Gal
spellingShingle Oren Gal
Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves
Journal of Robotics
author_facet Oren Gal
author_sort Oren Gal
title Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves
title_short Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves
title_full Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves
title_fullStr Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves
title_full_unstemmed Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves
title_sort unified approach of unmanned surface vehicle navigation in presence of waves
publisher Hindawi Limited
series Journal of Robotics
issn 1687-9600
1687-9619
publishDate 2011-01-01
description Most of the present work for unmanned surface vehicle (USV) navigation does not take into account environmental disturbances such as ocean waves, winds, and currents. In some scenarios, waves should be treated as special case of dynamic obstacle and can be critical to USV’s safety. For the first time, this paper presents unique concept facing this challenge by combining ocean waves' formulation with the probabilistic velocity obstacle (PVO) method for autonomous navigation. A simple navigation algorithm is presented in order to apply the method of USV’s navigation in presence of waves. A planner simulation dealing with waves and obstacles avoidance is introduced.
url http://dx.doi.org/10.1155/2011/703959
work_keys_str_mv AT orengal unifiedapproachofunmannedsurfacevehiclenavigationinpresenceofwaves
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