Optimal path planning of a mini USV using sharp cornering algorithm

摘要

This paper proposes a method for path planning of Unmanned Surface Vehicle (USV) with the effective period of time to achieve the target using sharp cornering algorithm. This method is used to create the curve between two points of the target. USV uses 9 DOF IMU with Kalman Filter and also the Inertial Navigation System (INS) as a method to combine 9 axis of IMU become pitch, roll and yaw. The generated value of yaw from Kalman Filter will be combined with the heading from Global Positioning System(GPS) sensor.