Design and Development of Low-Cost Self-Navigating Unmanned Surface Vehicle

Darrien Thomas Ghalid, Omar Khalid El-Amary, Riady Siswoyo Jo, Hermawan Nugroho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Recent adoptions of Unmanned Surface Vehicles (USV) call for efficient and cost-effective USV systems that are able to perform self-navigation. Successful development of a self-navigating USV depends on integration of essential features, such localization, obstacle detection and avoidance as well as navigation control techniques. This paper presents the development of a low-cost self-navigating USV by considering simplified kinematic and dynamic models. The dynamic models provide insights the actuation methods of the USV. The integration of self-navigating features to the USV prototype was evaluated through series of experiments using MATLAB/SIMULINK simulations. The experimental results are presented and discussed.

Original languageEnglish
Title of host publication8th IEEE Conference on Systems, Process and Control 2020
PublisherIEEE
Pages208-213
Number of pages6
ISBN (Electronic)9781728188614
DOIs
Publication statusPublished - 7 Jan 2021
Event8th IEEE Conference on Systems, Process and Control 2020 - Melaka, Malaysia
Duration: 11 Dec 202012 Dec 2020

Conference

Conference8th IEEE Conference on Systems, Process and Control 2020
Abbreviated titleICSPC 2020
Country/TerritoryMalaysia
CityMelaka
Period11/12/2012/12/20

Keywords

  • Line-of-Sight Navigation
  • Obstacle Detection
  • Self-Navigation
  • Sensor Fusion
  • USV

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

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