Navigation for Autonomous Surface Vessels
Authors
Term
4. term
Education
Publication year
2020
Submitted on
2020-07-04
Pages
72
Abstract
Denne afhandling omhandler derrivation af en ulineær model for en autonom båd. Med denne model udvikles simulation, kontrolsystemer og to navigationsalgoritmer.
This thesis covers derivation of a non-linear model, simulation of this model, development of control systems and path planning systems for an Autonomous Surface Vessel. A nonlinear dynamic model was created using Newtonian mechanics in combination with hydrostatics. This model was implemented in both Simulink and Gazebo. A PID controller was implemented, and the possibility of applying LPV control was investigated. The Artificial Potential Field method and the State Lattice method were both implemented. Measurements made on the model were used to ensure that the State lattice was restricted to only finding paths that the system is capable of following.
Keywords
kontrol ; navigation ; modelering ; APF ; LPV ; PID ; ROS ; Gazebo ; State Lattice ; ASV
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