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dc.contributor.advisorBingham, Brian
dc.contributor.authorManzini, Nicholas A.
dc.dateSep-17
dc.date.accessioned2017-11-07T23:39:59Z
dc.date.available2017-11-07T23:39:59Z
dc.date.issued2017-09
dc.identifier.urihttp://hdl.handle.net/10945/56152
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractThis 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.en_US
dc.description.urihttp://archive.org/details/usvpathplanningu1094556152
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, it may not be copyrighted.en_US
dc.titleUSV path planning using potential field modelen_US
dc.typeThesisen_US
dc.contributor.secondreaderYun, Xiaoping
dc.contributor.departmentMechanical And Aerospace Engineering (MAE)
dc.subject.authorpath planningen_US
dc.subject.authorunmanned surface vehiclesen_US
dc.subject.authorpotential field modelen_US
dc.description.recognitionOutstanding Thesis
dc.description.serviceLieutenant Commander, United States Navyen_US
etd.thesisdegree.nameMaster of Science in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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