Experiments in autonomous navigation with an under-actuated surface vessel via the Null-Space based Behavioral control

Filippo Arrichiello, Jnaneshwar Das, Hordur Heidarsson, Stefano Chiaverini, Gaurav S. Sukhatme

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

5 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages362-367
Number of pages6
DOIs
StatePublished - Nov 4 2009
Externally publishedYes
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: Jul 14 2009Jul 17 2009

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period7/14/097/17/09

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Arrichiello, F., Das, J., Heidarsson, H., Chiaverini, S., & Sukhatme, G. S. (2009). Experiments in autonomous navigation with an under-actuated surface vessel via the Null-Space based Behavioral control. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 362-367). [5229988] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229988