This paper focuses on the critical components of the situational awareness (SA), the controls of position and orientation of an autonomous surface vessel (ASV). Moving of vessel into desired area in particular sea is a challenging but important task for ASVs to achieve high level of autonomy under adverse conditions. With the SA strategy, the approach motion by neural control of an initial stage of an ASV trajectory using neural network predictive controller and the circular motion by control of yaw moment in the final stage of trajectory were proposed. This control system has been demonstrated and evaluated by simulation of maritime maneuvers using software package Simulink. From the simulation results it can be seen that the fast SA of similar ASVs with economy in energy can be asserted during the maritime missions in search-and-rescue operations.


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    Title :

    Motion Control of an Autonomous Surface Vessel for Enhanced Situational Awareness


    Contributors:
    Igor Astrov (author) / Mikhail Pikkov (author) / Rein Paluoja (author)

    Publication date :

    2013-10-04


    Remarks:

    oai:zenodo.org:1089026



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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