Control and guidance of an unmanned sea surface vehicle

Ahıska, Kenan
In this thesis, control and guidance algorithms for unmanned sea surface vehicles are studied. To design control algorithms of different complexity, first a mathematical model for an unmanned sea surface vehicle is derived. The dynamical and kinematical equations for a sea surface vehicle are obtained, and they are adapted to real life conditions with necessary additions and simplifications. The forces and torques effecting on the vehicle are investigated in detail. Control algorithms for under-actuated six degrees-of-freedom model are designed. PID and LQR controllers are implemented to attain desired surge speed and yaw position. The autopilots are designed and their performances are compared. Based on the autopilots, a guidance algorithm is implemented to achieve desired motions of the vehicle. An obstacle avoidance algorithm is proposed for safe motion among the obstacles. A next-point generation algorithm is designed to direct the vehicle to the most appropriate next way-point if the one ahead is missed. The effects of disturbances on the motion of the vehicle are studied thoroughly on simulation results. PID controller for an unmanned sea surface vehicle is implemented on ArduPilot Mega v1.4 cart controlling a Traxxas Spartan model boat. The performance of the controller is validated. Simulations and experimental results are provided