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Journal of Robotics
Volume 2011, Article ID 703959, 8 pages
Research Article

Unified Approach of Unmanned Surface Vehicle Navigation in Presence of Waves

Department of Mechanical Engineering, Technion, Israel Institute of Technology, Haifa 32000, Israel

Received 1 August 2011; Revised 26 October 2011; Accepted 19 November 2011

Academic Editor: Yangmin Li

Copyright © 2011 Oren Gal. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Most of the present work for unmanned surface vehicle (USV) navigation does not take into account environmental disturbances such as ocean waves, winds, and currents. In some scenarios, waves should be treated as special case of dynamic obstacle and can be critical to USV’s safety. For the first time, this paper presents unique concept facing this challenge by combining ocean waves' formulation with the probabilistic velocity obstacle (PVO) method for autonomous navigation. A simple navigation algorithm is presented in order to apply the method of USV’s navigation in presence of waves. A planner simulation dealing with waves and obstacles avoidance is introduced.