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Autonomous guidance, stepwise path planning, and path-following control with anti-collision for autonomous marine robots

Zhou, Hongyu
Master thesis
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no.ntnu:inspera:54166542:48376540.pdf (22.24Mb)
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https://hdl.handle.net/11250/2780094
Utgivelsesdato
2020
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  • Institutt for marin teknikk [2885]
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This thesis presents methods for autonomous guidance, stepwise path planning, and path-following control

with anti-collision and COLREGs compliance. The system is validated through simulations.

Two waypoint generation methods are developed, i.e., the navigation function method and the stream

function method. These two methods are modified to achieve COLREGs compliance. The navigation

function method guarantees global convergence. While the stream function method gives shorter and

smoother path.

Each waypoint generation method can be integrated with a path generation algorithm. The path generation

algorithm formulates a quadratic programming problem to minimize path length between two

waypoints. A controller is designed using backstepping and a thrust allocation algorithm is implemented

to perform path following.
 
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