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

Automaatio- ja konetekniikka

Tutkimustuotos: Konferenssiartikkeli › Tieteellinen › vertaisarvioitu

4 Sitaatiot (Scopus)

90 Lataukset (Pure)

Abstrakti

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.

Alkuperäiskieli	Englanti
Otsikko	2019 Third IEEE International Conference on Robotic Computing (IRC)
Alaotsikko	25-27 Feb. 2019, Naples, Italy.
Kustantaja	IEEE
Sivut	427-428
Sivumäärä	2
ISBN (elektroninen)	978-1-5386-9245-5
ISBN (painettu)	978-1-5386-9246-2
DOI - pysyväislinkit	https://doi.org/10.1109/IRC.2019.00083
Tila	Julkaistu - 28 maalisk. 2019
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	IEEE International Conference on Robotic Computing - Kesto: 10 jouluk. 2019 → …

Conference

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

Julkaisufoorumi-taso

Jufo-taso 1

Pääsy asiakirjaan

10.1109/IRC.2019.00083

Model-based path planning 2019
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited.
Accepted author manuscript, 1,3 MB

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

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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",

year = "2019",

month = mar,

day = "28",

doi = "10.1109/IRC.2019.00083",

language = "English",

isbn = "978-1-5386-9246-2",

pages = "427--428",

booktitle = "2019 Third IEEE International Conference on Robotic Computing (IRC)",

publisher = "IEEE",

address = "United States",

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. julkaisussa 2019 Third IEEE International Conference on Robotic Computing (IRC): 25-27 Feb. 2019, Naples, Italy.. IEEE, Sivut 427-428, IEEE International Conference on Robotic Computing, 10/12/19. https://doi.org/10.1109/IRC.2019.00083

TY - GEN

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AU - Villa Escusol, Jose

AU - Aaltonen, Jussi

AU - Koskinen, Kari

PY - 2019/3/28

Y1 - 2019/3/28

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.

U2 - 10.1109/IRC.2019.00083

DO - 10.1109/IRC.2019.00083

M3 - Conference contribution

SN - 978-1-5386-9246-2

SP - 427

EP - 428

BT - 2019 Third IEEE International Conference on Robotic Computing (IRC)

PB - IEEE

T2 - IEEE International Conference on Robotic Computing

Y2 - 10 December 2019

ER -

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

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Conference

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