This video demonstrates how USV follows predefined paths of different parameterization, be it straight or bspline. The vehicle's guidance system is governed by LOS law that outputs reference heading for R-modelled sliding-mode heading controller to track. To avoid obstacle, SBG law is implemented, making decision based on measurements from a 2D LiDAR.
This work is part of my collaboration with VIAM Lab at HCMUT, VNUHCM to realize autonomy in environmental monitoring for USV.
For more information about the implementation, please refer to our paper:
[.] N.-H. Tran, Q.-H. Pham, J.-H. Lee and H.-S. Choi, "VIAM-USV2000: An Unmanned Surface Vessel with Novel Autonomous Capabilities in Confined Riverine Environments," Machines, vol. 9, no. 7, p. 133, 2021.
Youtube channel of VIAM Lab: [ Ссылка ]
