Navigation, Guidance and Control of a catamaran robust to external disturbances

This paper includes the implementation of navigation, guidance, and control algorithms for the catamaran-shaped autonomous surface vehicle (ASV) with a thruster configuration that includes 4 smaller thrusters in x-configuration and one larger thruster for the surge motion. The algorithms are described with emphasis on the allocator algorithms for which customizations were made to improve maneuverability. An experiment was conducted to show better energy optimization after a bigger thruster was included for surge motion. Two different experiments were made in s Marine Robotics Unity Simulator (MARUS) to show maneuverability improvement and test the full path following setup.