Publication: Maneuvering and navigation performance evaluation of autonomous surface vehicle (boat drone)
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Date
2022-08-01
Authors
Mohamad, Muhammad Amin
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Abstract
The development and performance evaluation of an Autonomous Surface Vehicle (ASV) for maneuvering and navigation experiment is introduced in this paper. In building a ship or vessel, proper maneuvering and navigation tests must be done to ensure its’ seakeeping and navigability with safety in mind. Hence, the ASV is equipped with an autopilot called Pixhawk to enable its performance to be controlled wirelessly and automatically in a natural environment. This research focuses on design, development, hardware implementation, and mainly ASV’s ability to move following pre-set waypoints in autonomous mode. To ensure the motion and position of the ASV are trackable, the Pixhawk is equipped with GPS and compass features. The ASV’s operation of maneuvering and navigation is fully controlled by setting up its steering and throttle PID and L1 adaptive controller. Several experimental stages have been done to evaluate the performance of the ASV maneuvering and navigation system. Firstly, the experiment was started by evaluating the ASV’s outputs using the default setting pre-set in the Pixhawk firmware. The ASV’s experimentation was continued by varying the controllers’ values to find the lower boundary of the controllers’ values needed to produce proper yet imperfect maneuvering. After that, the experiment was brought to the next stage, where the range for perfect controllers’ values was tested. The last step was to find and test the ASV’s data if the controllers’ values were too high. The ASV’s maneuvering was still improper as overshoots at cornering were produced but recommended to be improved for future works.