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

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

doi:10.1109/ICSPC50992.2020.9305774

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

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

School of Engineering & Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (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 language	English
Title of host publication	8th IEEE Conference on Systems, Process and Control 2020
Publisher	IEEE
Pages	208-213
Number of pages	6
ISBN (Electronic)	9781728188614
DOIs	https://doi.org/10.1109/ICSPC50992.2020.9305774
Publication status	Published - 7 Jan 2021
Event	8th IEEE Conference on Systems, Process and Control 2020 - Melaka, Malaysia Duration: 11 Dec 2020 → 12 Dec 2020

Conference

Conference	8th IEEE Conference on Systems, Process and Control 2020
Abbreviated title	ICSPC 2020
Country/Territory	Malaysia
City	Melaka
Period	11/12/20 → 12/12/20

Keywords

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

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Optimization

Access to Document

10.1109/ICSPC50992.2020.9305774

Cite this

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title = "Design and Development of Low-Cost Self-Navigating Unmanned Surface Vehicle",

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. ",

keywords = "Line-of-Sight Navigation, Obstacle Detection, Self-Navigation, Sensor Fusion, USV",

author = "Ghalid, \{Darrien Thomas\} and El-Amary, \{Omar Khalid\} and Jo, \{Riady Siswoyo\} and Hermawan Nugroho",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 8th IEEE Conference on Systems, Process and Control 2020, ICSPC 2020 ; Conference date: 11-12-2020 Through 12-12-2020",

year = "2021",

month = jan,

day = "7",

doi = "10.1109/ICSPC50992.2020.9305774",

language = "English",

pages = "208--213",

booktitle = "8th IEEE Conference on Systems, Process and Control 2020",

publisher = "IEEE",

address = "United States",

}

TY - GEN

T1 - Design and Development of Low-Cost Self-Navigating Unmanned Surface Vehicle

AU - Ghalid, Darrien Thomas

AU - El-Amary, Omar Khalid

AU - Jo, Riady Siswoyo

AU - Nugroho, Hermawan

PY - 2021/1/7

Y1 - 2021/1/7

N2 - 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.

AB - 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.

KW - Line-of-Sight Navigation

KW - Obstacle Detection

KW - Self-Navigation

KW - Sensor Fusion

KW - USV

UR - https://www.scopus.com/pages/publications/85100329913

U2 - 10.1109/ICSPC50992.2020.9305774

DO - 10.1109/ICSPC50992.2020.9305774

M3 - Conference contribution

AN - SCOPUS:85100329913

SP - 208

EP - 213

BT - 8th IEEE Conference on Systems, Process and Control 2020

PB - IEEE

T2 - 8th IEEE Conference on Systems, Process and Control 2020

Y2 - 11 December 2020 through 12 December 2020

ER -

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

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