Trajectory Planning of an Unmanned Water Surface Vessel Subjected to Kinematic Constraints

Abstract

This study uses MATLAB to visualize and analyse the position, ve-locity, and acceleration of an object moving along a two-dimensional path. The time-dependent data for position, velocity and acceleration were processed into graphs, providing in-sights into the system's motion. The position profile shows steady motion with significant change in the xy-direction, indicating vertical movement. The velocity and acceleration profiles exhibit smooth, wave-like transitions, suggesting con-trolled, gradual changes in speed without abrupt spikes, reflecting stable motion. The angles and position with respect to which the Unmanned Water Surface Vessel is moving in the given plane is calculated with the help of trajectory planning equations and they are given as input pa-rameters to make the trajectory graph. In conclusion, the MATLAB model ef-fectively demonstrates the system's behavior and can be used to analyses and optimize the motion of robotic systems, improving efficiency, stability, and per-formance in engineering applications.