Navigation for Autonomous Surface Vessels

Student thesis: Master thesis (including HD thesis)

  • Simon Peter Heide Kaihøj
  • Mohamed Yahya Maad
4. term, Control and Automation, Master (Master Programme)
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.
Publication date4 Jul 2020
Number of pages72
ID: 335693383