RSC-MPC-Based Motion Planning Framework for Unmanned Surface Vehicles ?Insansiz Su Üstü Araçlari için RSC-MPC Tabanli Hareket Planlama Çerçevesi
34th Signal Processing and Communications Applications Conference, SIU 2026, İstanbul, Turkey, 7 - 10 July 2026, (Full Text)
- Publication Type: Conference Paper / Full Text
- Doi Number: 10.1109/siu71813.2026.11636378
- City: İstanbul
- Country: Turkey
- Keywords: model predictive control, motion planning, random sequential composition, unmanned surface vehicles
- Middle East Technical University Affiliated: Yes
Abstract
In this work, a motion planning and control approach for an unmanned surface vehicle (USV) is introduced. The proposed method generates a sparse graph structure by creating safe regions in obstacle environments, and then navigates the vehicle between these regions using a model predictive control algorithm. The main motivation of this solution is to develop a computationally efficient and robust motion planning algorithm for USVs. Simulations conducted on an underactuated USV model with two thrusters demonstrate the success of the method in obstacle avoidance and goal reaching.