Path-Following With LiDAR-Based Obstacle Avoidance of an Unmanned Surface Vehicle in Harbor Conditions

Research output: Contribution to journalConference articleScientificpeer-review

3 Citations (Scopus)
69 Downloads (Pure)


This article studies the design, modeling, and implementation challenges of a path-following with obstacle avoidance algorithms as guidance, navigation, and control (GNC) architecture of an unmanned surface vehicle (USV) in harbor conditions. First, an effective mathematical model is developed based on system identification, validating the USV model with field-test data. Then, a guidance system is addressed based on a line-of-sight algorithm, which uses a LiDAR as the main perception sensor for the obstacle avoidance algorithm. The GNC architecture uses a modular approach, including obstacle detection, path-following, and control in the USV platform. Finally, an implementation challenge in two control scenarios, simulation and field test, is addressed to validate the designed GNC architecture.
Original languageEnglish
Pages (from-to)1812-1820
Number of pages9
JournalIEEE - ASME Transactions on Mechatronics
Issue number4
Publication statusPublished - 27 May 2020
Publication typeA1 Journal article-refereed


  • path-following control
  • obstacle avoidance
  • System identification
  • Model validation
  • unmanned surface vessel

Publication forum classification

  • Publication forum level 3


Dive into the research topics of 'Path-Following With LiDAR-Based Obstacle Avoidance of an Unmanned Surface Vehicle in Harbor Conditions'. Together they form a unique fingerprint.

Cite this