Development of Autonomous Navigation Algorithm for very Small Unmanned Surface Vehicle based on GPS

Kim, Hyo-Il; Jun, Seung-Hwan

Journal of Navigation and Port Research 2009;33(5):303-308.
Published online June 30, 2009.

GPS 기반의 초소형 무인선박을 위한 자율항법 알고리즘 개발

김효일, 전승환

Development of Autonomous Navigation Algorithm for very Small Unmanned Surface Vehicle based on GPS

Hyo-Il Kim, Seung-Hwan Jun

Abstract

Recently, unmanned systems have been studied and developed in various areas including aircrafts, automobiles and vessels In addition, many researches about unmanned systems in Korea have been studying actively with the advancement of IT. However， it is not satisfied with the result of the researches and developments. Because of the reason we've here tried to make a very small USV which is a barge type. We applied the Great circle navigation calculation based on GPS to the autonomous navigation algorithm and used the Lab VIEW 8.2 developed by NI corp. for programming The engine and rudder were controlled by pulse width modulation method. The engine system was composed of the DC motor and ESC(Electronic Speed Controller). It was also applied by the direct cooling system using DC motor pump. A very small USV was designed and made by ourself and it was verified the effectiveness of autonomous navigation algorithm through the tests at the sea.

Key Words: USV;autonomous;navigation algorithm;Great circle;navigation;LabVIEW;GPS