USV path planning using potential field model
Manzini, Nicholas A.
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This project aims to design, implement, and assess the performance of an unmanned surface vessel (USV) path planning with potential fields. The proposed algorithms are adaptations of the general potential field navigation method, tailored for the specific dynamics of USV path planning. A piecewise linear potential field model was implemented on a Clearpath USV using MATLAB and Simulink. The USV model and piecewise linear potential field model were tested in a Gazebo simulation and in the field. The simulations and real-world tests were compared to evaluate the performance of the potential field algorithms. The USV interacted with the repulsive and attractive fields successfully to maneuver around obstacles and boundaries to reach the objective.
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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