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A Guidance Algorithm for Unmanned Surface Vehicle Exhibiting Sternward Motion

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dc.contributor.authorDu, Shuen
dc.contributor.committeechairStilwell, Daniel J.en
dc.contributor.committeememberWoolsey, Craig A.en
dc.contributor.committeememberBailey, Scott M.en
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2013-11-12T09:00:12Zen
dc.date.available2013-11-12T09:00:12Zen
dc.date.issued2013-11-11en
dc.description.abstractWe propose a new dynamically feasible trajectory generation algorithm that incorporates sternward motion for unmanned surface vehicles. This work is motivated by riverine applications where the operating environment is large and poorly known. We extend a navigation approach for forward path planning into a more versatile framework that includes safe and dynamically feasible backward trajectories. We pose the backward trajectory generation problem as a finite-horizon optimal control problem and transform it into a nonlinear programming problem by utilizing the direct shooting method. The nonlinear programming problem is solved using the Hooke-Jeeves numerical algorithm. We provide successful simulation and field-trial results that demonstrate the performance of backward path planning algorithm.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.othervt_gsexam:1687en
dc.identifier.urihttp://hdl.handle.net/10919/24011en
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectpath planningen
dc.subjectunmanned surface vehicleen
dc.titleA Guidance Algorithm for Unmanned Surface Vehicle Exhibiting Sternward Motionen
dc.typeThesisen
thesis.degree.disciplineElectrical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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