| Issue |
MATEC Web of Conferences
Volume 42, 2016
2015 The 3rd International Conference on Control, Mechatronics and Automation (ICCMA 2015)
|
|
|---|---|---|
| Article Number | 01005 | |
| Number of page(s) | 6 | |
| Section | Automation control theory and Applications | |
| DOI | https://doi.org/10.1051/matecconf/20164201005 | |
| Published online | 17 February 2016 | |
Local and Global Motion Planning for Unmanned Surface Vehicle
Southern Federal University Sciences, Research Institute of Robotics and Control Processes, 347922 Taganrog, p. Nekrasovsky, 44, Russia
a Corresponding author: frontwise@gmail.com
The paper shows approach of unmanned surface vehicle motion planning in an environment with obstacles. The structure of the control system hardware, software architecture, based on client-server model with the loose coupling in ROS software environment, is presented. Global planner is designed using the method of Generalized Voronoi Diagrams. Local planner is implemented using the unstable regimes of control to bypass obstacles near USV. The results of simulation, which showed the efficiency of the proposed approaches, are presented.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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