Model-based path planning and obstacle avoidance architecture for a twin jet Unmanned Surface Vessel

Jose Villa Escusol; Jussi Aaltonen; Kari Koskinen

doi:10.1109/IRC.2019.00083

Model-based path planning and obstacle avoidance architecture for a twin jet Unmanned Surface Vessel

Jose Villa Escusol
, Jussi Aaltonen
, Kari Koskinen

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

4 Citations (Scopus)

90 Downloads (Pure)

Abstract

The aim of this study is to implement a modelbased control architecture for a twin jet Unmanned Surface Vessel (USV) using the line-of-sight (LOS) path algorithm for straight-line. The modeling and design of the motion control system are studied using MATLAB-Simulink and the real-time implementation is done by using Robot Operating System (ROS). To simplify the real-time implementation and thus, programming files, the necessary code generation is done by generating a Standalone ROS Node from Simulink software, making the process easier for researchers with non-advanced programming skills. Simulation and field test results are shown to validate the model-based control architecture.

Original language	English
Title of host publication	2019 Third IEEE International Conference on Robotic Computing (IRC)
Subtitle of host publication	25-27 Feb. 2019, Naples, Italy.
Publisher	IEEE
Pages	427-428
Number of pages	2
ISBN (Electronic)	978-1-5386-9245-5
ISBN (Print)	978-1-5386-9246-2
DOIs	https://doi.org/10.1109/IRC.2019.00083
Publication status	Published - 28 Mar 2019
Publication type	A4 Article in conference proceedings
Event	IEEE International Conference on Robotic Computing - Duration: 10 Dec 2019 → …

Conference

Conference	IEEE International Conference on Robotic Computing
Period	10/12/19 → …

Publication forum classification

Publication forum level 1

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10.1109/IRC.2019.00083

Model-based path planning 2019
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Accepted author manuscript, 1.3 MB

http://urn.fi/URN:NBN:fi:tuni-201912106727

Cite this

@inproceedings{6546b7ca81864e89baa6a3322dc4a8cc,

title = "Model-based path planning and obstacle avoidance architecture for a twin jet Unmanned Surface Vessel",

abstract = "The aim of this study is to implement a modelbased control architecture for a twin jet Unmanned Surface Vessel (USV) using the line-of-sight (LOS) path algorithm for straight-line. The modeling and design of the motion control system are studied using MATLAB-Simulink and the real-time implementation is done by using Robot Operating System (ROS). To simplify the real-time implementation and thus, programming files, the necessary code generation is done by generating a Standalone ROS Node from Simulink software, making the process easier for researchers with non-advanced programming skills. Simulation and field test results are shown to validate the model-based control architecture.",

author = "\{Villa Escusol\}, Jose and Jussi Aaltonen and Kari Koskinen",

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doi = "10.1109/IRC.2019.00083",

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publisher = "IEEE",

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note = "IEEE International Conference on Robotic Computing ; Conference date: 10-12-2019",

}

Villa Escusol, J, Aaltonen, J & Koskinen, K 2019, Model-based path planning and obstacle avoidance architecture for a twin jet Unmanned Surface Vessel. in 2019 Third IEEE International Conference on Robotic Computing (IRC): 25-27 Feb. 2019, Naples, Italy.. IEEE, pp. 427-428, IEEE International Conference on Robotic Computing, 10/12/19. https://doi.org/10.1109/IRC.2019.00083

Model-based path planning and obstacle avoidance architecture for a twin jet Unmanned Surface Vessel. / Villa Escusol, Jose; Aaltonen, Jussi ; Koskinen, Kari.
2019 Third IEEE International Conference on Robotic Computing (IRC): 25-27 Feb. 2019, Naples, Italy.. IEEE, 2019. p. 427-428.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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AU - Koskinen, Kari

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N2 - The aim of this study is to implement a modelbased control architecture for a twin jet Unmanned Surface Vessel (USV) using the line-of-sight (LOS) path algorithm for straight-line. The modeling and design of the motion control system are studied using MATLAB-Simulink and the real-time implementation is done by using Robot Operating System (ROS). To simplify the real-time implementation and thus, programming files, the necessary code generation is done by generating a Standalone ROS Node from Simulink software, making the process easier for researchers with non-advanced programming skills. Simulation and field test results are shown to validate the model-based control architecture.

AB - The aim of this study is to implement a modelbased control architecture for a twin jet Unmanned Surface Vessel (USV) using the line-of-sight (LOS) path algorithm for straight-line. The modeling and design of the motion control system are studied using MATLAB-Simulink and the real-time implementation is done by using Robot Operating System (ROS). To simplify the real-time implementation and thus, programming files, the necessary code generation is done by generating a Standalone ROS Node from Simulink software, making the process easier for researchers with non-advanced programming skills. Simulation and field test results are shown to validate the model-based control architecture.

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Y2 - 10 December 2019

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Model-based path planning and obstacle avoidance architecture for a twin jet Unmanned Surface Vessel

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