%0 Journal Article
	%A Igor Astrov and  Mikhail Pikkov and  Rein Paluoja
	%D 2013
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 83, 2013
	%T Motion Control of an Autonomous Surface Vessel for Enhanced Situational Awareness
	%U https://publications.waset.org/pdf/9996569
	%V 83
	%X This paper focuses on the critical components of the situational awareness (SA), the controls of position and orientation of an autonomous surface vessel (ASV). Moving of vessel into desired area in particular sea is a challenging but important task for ASVs to achieve high level of autonomy under adverse conditions. With the SA strategy, the approach motion by neural control of an initial stage of an ASV trajectory using neural network predictive controller and the circular motion by control of yaw moment in the final stage of trajectory were proposed. This control system has been demonstrated and evaluated by simulation of maritime maneuvers using software package Simulink. From the simulation results it can be seen that the fast SA of similar ASVs with economy in energy can be asserted during the maritime missions in search-and-rescue operations.

	%P 2259 - 2264