DEVELOPMENT OF USV AUTONOMY: ARCHITECTURE,IMPLEMENTATION AND SEA TRIALS

[摘要] This paper presents the development of autonomy capability for an unmanned surfacevehicle (USV). The development mainly focuses on the high-level autonomy on perception,path planning, guidance and control to achieve real sea applications of the USV. First, visualrecognition and point cloud data processing techniques are utilized to achieve a real-timeperception of the object in the sea environment. Second, detailed path planning strategies areillustrated to plan the easily reachable path for different missions, and the classic guidance andheading controller are adopted to implement the path following algorithm. Subsequently, theseautonomy algorithms run in the high-level computer and render the actuator commands for thelow-level embedded control system. Finally, sea trials of the USV are conducted by attendingthe 2020 Zhuhai Wanshan International Intelligent Vessel Competition (IIVC) in Dong AoIsland of South China Sea. The USV accomplish three missions: 1) path following, 2)navigating around the obstacle, and 3) rescuing the drowning. Sea trial results verify theautonomy of the USV in terms of the achieved performances.

[学科分类] 工程和技术（综合）

[关键词] Unmanned surface vehicle (USV);High-level autonomy;Perception;Pathplanning;Guidance and control;Sea trials