Research Article
Way Points and Reference Speed Based Trajectory Generator for an Unmanned Surface Vehicle
@INPROCEEDINGS{10.1007/978-3-031-34899-0_1, author={Hongkun He and Ning Wang}, title={Way Points and Reference Speed Based Trajectory Generator for an Unmanned Surface Vehicle}, proceedings={Sensor Systems and Software. 13th EAI International Conference, S-Cube 2022, Dalian, China, December 7-9, 2022, Proceedings}, proceedings_a={S-CUBE}, year={2023}, month={6}, keywords={Unmanned surface vehicle (USV) Trajectory generator (TG) Way points (WPs) Seventh-order polynominal Second-order filter}, doi={10.1007/978-3-031-34899-0_1} }- Hongkun He
Ning Wang
Year: 2023
Way Points and Reference Speed Based Trajectory Generator for an Unmanned Surface Vehicle
S-CUBE
Springer
DOI: 10.1007/978-3-031-34899-0_1
Abstract
On the basis of successive way points (WPs) and piecewise reference speed, a trajectory generator (TG) is elaborately devised to generate a smooth trajectory for an unmanned surface vehicle (USV) in this paper. Firstly, the seventh-order polynominal is exclusively deployed to fit foregoing WPs, resulting in the parameterized path with sufficient differentiability. Then, the reference speed passes through the second-order filter, such that the speed command is uniformly continuous. Together with the parameterized path and speed command, the path speed is readily designed, and thereby contributing to the continuously differentiable trajectory. Certainly, the desired trajectory is much easier for users to predesignate in the electronic chart, and is more favorable to be exactly tracked by the USV in practice. Eventually, the model-based controller for the USV is synthesized to asymptotically track the generated trajectory in the absence of unmodeled dynamics and external disturbances. Comprehensive simulations are conducted on the benchmark prototype CyberShip II, so as to validate the effectiveness of both the proposed TG and trajectory-tracking controller.
