TY - GEN
T1 - Experiments in autonomous navigation with an under-actuated surface vessel via the Null-Space based Behavioral control
AU - Arrichiello, Filippo
AU - Das, Jnaneshwar
AU - Heidarsson, Hordur
AU - Chiaverini, Stefano
AU - Sukhatme, Gaurav S.
PY - 2009
Y1 - 2009
N2 - This paper presents an autonomous navigation technique for an under-actuated surface vessel based on the use of a behavior-based technique, namely the Null-Space based Behavioral (NSB) control. The NSB control is used to generate motion directives for the vessel in order to sequentially visit various locations in the environment, while avoiding collisions with static obstacles. To work with under-actuated vessels, the NSB controller is coupled with a low-level maneuvering controller that generates the actuator forces to cause the vessel to follow the motion directives generated by the NSB. The overall control technique has been experimentally validated in the field with an autonomous under-actuated surface vessel navigating in a lake, avoiding collisions with small islands and a fountain.
AB - This paper presents an autonomous navigation technique for an under-actuated surface vessel based on the use of a behavior-based technique, namely the Null-Space based Behavioral (NSB) control. The NSB control is used to generate motion directives for the vessel in order to sequentially visit various locations in the environment, while avoiding collisions with static obstacles. To work with under-actuated vessels, the NSB controller is coupled with a low-level maneuvering controller that generates the actuator forces to cause the vessel to follow the motion directives generated by the NSB. The overall control technique has been experimentally validated in the field with an autonomous under-actuated surface vessel navigating in a lake, avoiding collisions with small islands and a fountain.
UR - http://www.scopus.com/inward/record.url?scp=70350452160&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2009.5229988
DO - 10.1109/AIM.2009.5229988
M3 - Conference contribution
AN - SCOPUS:70350452160
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 362
EP - 367
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -