Unmanned Surface Vehicle Stabilization, Navigation and Collision Avoidance

A system to facilitate navigation of a USV (Unmanned Surface Vehicle) in a maritime seaway is proposed. The system will provide 3 functions: 1. Stabilization of the hull to prevent excessive deck motion or capsizing, 2. Determination of optimal course and speed for the given wave, wind, and current environment, 3. Avoidance of Collisions with flotsam or other vessels. The system processes radar and deck motion data as sensed by an Inertial Reference Unit (IRU) and commands the ships attitude control and propulsion devices. The proposed research builds on previous work by the investigators in researching deck motion prediction systems for shipboard helicopter landing, and developing navigation and stabilization systems for autonomous helicopters and AUVs (Autonomous Underwater Vehicles.