Araştırma Makalesi

A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles

Cilt: 13 Sayı: 2 15 Haziran 2023
Osman Ünal *, Nuri Akkaş , Gökhan Atalı , Sinan Serdar Özkan , Altuğ Yenginar
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A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles

Öz

This study proposes a stable and robust path following algorithm for Unmanned Surface Vehicles (USVs). The main objective of this paper is to optimize a key parameter in the improved algorithm to minimize tracking errors. In this study, firstly a stability criterion is developed to limit this parameter and make stable navigation. This model determines the unique target points for each time step using the optimum and flexible parameter in contrast fixed value used in previous studies. The proposed stability criterion and the turning rate data obtained from the previous time step are used to determine this optimum parameter. It provides smooth and precise navigation at critical points like as sharp turning maneuvers. Moreover, it includes saturation for maximum turning rate to make realistic navigation. The proposed model in this study reduces tracking errors by around 20% compared to the conventional carrot-chasing algorithm. Finally, a numerical simulator for USVs in the Matlab environment has been included in the Appendix to support the work of other researchers.

Anahtar Kelimeler

Unmanned Surface Vehicle, Path Following Algorithm, Tracking error

Kaynakça

  1. Allgower, E. L., & Georg, K. (1993). Continuation and path following. Acta numerica, 2, 1-64.
  2. Bibuli, M., Caccia, M., & Lapierre, L. (2007). Path-following algorithms and experiments for an autonomous surface vehicle. IFAC Proceedings Volumes, 40(17), 81-86.
  3. Campbell, S., Naeem, W., & Irwin, G. W. (2012). A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres. Annual Reviews in Control, 36(2), 267-283.
  4. Chung, S. H., Sah, B., & Lee, J. (2020). Optimization for drone and drone-truck combined operations: A review of the state of the art and future directions. Computers & Operations Research, 123, 105004.
  5. Conte, G., Duranti, S., & Merz, T. (2004). Dynamic 3D path following for an autonomous helicopter. IFAC Proceedings Volumes, 37(8), 472-477.
  6. Garcia, C. B. (1981). Pathways to solutions. Fixed Points and Equilibiria.
  7. Gould, F. J., & Tolle, J. W. (1983). Complementary pivoting on a pseudomanifold structure with applications in the decision sciences (Vol. 2). Heldermann.
  8. Gu, N., Wang, D., Peng, Z., Wang, J., & Han, Q. L. (2022). Advances in Line-of-Sight Guidance for Path Following of Autonomous Marine Vehicles: An Overview. IEEE Transactions on Systems, Man, and Cybernetics: Systems.
  9. Jin, X., Mei, W., & Zhaolong, Y. (2020, March). Path Following Control for Unmanned Aerial Vehicle Based on Carrot Chasing Algorithm and PLOS. In 2020 IEEE International Conference on Artificial Intelligence and Information Systems (ICAIIS) (pp. 571-576). IEEE.
  10. Keller, H. B. (1987). Lectures on numerical methods in bifurcation problems. Applied Mathematics, 217, 50.

Ayrıntılar

Birincil Dil

İngilizce

Konular

Deniz Mühendisliği (Diğer)

Bölüm

Araştırma Makalesi

Yazarlar

Erken Görünüm Tarihi

15 Haziran 2023

Yayımlanma Tarihi

15 Haziran 2023

Gönderilme Tarihi

28 Aralık 2022

Kabul Tarihi

13 Haziran 2023

Yayımlandığı Sayı

Yıl 2023 Cilt: 13 Sayı: 2

DOI

https://doi.org/10.31466/kfbd.1225505

IZ

https://izlik.org/JA88XH84KX

Kaynak Göster

RIS / Bibtex
APA
Ünal, O., Akkaş, N., Atalı, G., Özkan, S. S., & Yenginar, A. (2023). A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles. Karadeniz Fen Bilimleri Dergisi, 13(2), 493-503. https://doi.org/10.31466/kfbd.1225505
AMA
1.Ünal O, Akkaş N, Atalı G, Özkan SS, Yenginar A. A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles. KFBD. 2023;13(2):493-503. doi:10.31466/kfbd.1225505
Chicago
Ünal, Osman, Nuri Akkaş, Gökhan Atalı, Sinan Serdar Özkan, ve Altuğ Yenginar. 2023. “A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles”. Karadeniz Fen Bilimleri Dergisi 13 (2): 493-503. https://doi.org/10.31466/kfbd.1225505.
EndNote
Ünal O, Akkaş N, Atalı G, Özkan SS, Yenginar A (01 Haziran 2023) A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles. Karadeniz Fen Bilimleri Dergisi 13 2 493–503.
IEEE
[1]O. Ünal, N. Akkaş, G. Atalı, S. S. Özkan, ve A. Yenginar, “A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles”, KFBD, c. 13, sy 2, ss. 493–503, Haz. 2023, doi: 10.31466/kfbd.1225505.
ISNAD
Ünal, Osman - Akkaş, Nuri - Atalı, Gökhan - Özkan, Sinan Serdar - Yenginar, Altuğ. “A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles”. Karadeniz Fen Bilimleri Dergisi 13/2 (01 Haziran 2023): 493-503. https://doi.org/10.31466/kfbd.1225505.
JAMA
1.Ünal O, Akkaş N, Atalı G, Özkan SS, Yenginar A. A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles. KFBD. 2023;13:493–503.
MLA
Ünal, Osman, vd. “A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles”. Karadeniz Fen Bilimleri Dergisi, c. 13, sy 2, Haziran 2023, ss. 493-0, doi:10.31466/kfbd.1225505.
Vancouver
1.Osman Ünal, Nuri Akkaş, Gökhan Atalı, Sinan Serdar Özkan, Altuğ Yenginar. A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles. KFBD. 01 Haziran 2023;13(2):493-50. doi:10.31466/kfbd.1225505


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