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, Türkiye, 7 - 10 Temmuz 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/siu71813.2026.11636378
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: model predictive control, motion planning, random sequential composition, unmanned surface vehicles
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
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.