Model-based path planning and obstacle avoidance architecture for a twin jet Unmanned Surface Vessel

摘要

The aim of this study is to implement a modelbased control architecture for a twin jet Unmanned Surface Vessel (USV) using the line-of-sight (LOS) path algorithm for straight-line. The modeling and design of the motion control system are studied using MATLAB-Simulink and the real-time implementation is done by using Robot Operating System (ROS). To simplify the real-time implementation and thus, programming files, the necessary code generation is done by generating a Standalone ROS Node from Simulink software, making the process easier for researchers with non-advanced programming skills. Simulation and field test results are shown to validate the model-based control architecture.