University of Tehran Press Iranian Journal of Biosystem Engineering 2008-4803 49 3 2018 10 23 Evaluation of a Navigation Algorithm for Robot Boat and Comparison to Simulation Results Evaluation of a Navigation Algorithm for Robot Boat and Comparison to Simulation Results 353 366 68254 10.22059/ijbse.2018.236436.664964 FA Yousef Salmani M.Sc. Student, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran Hossein Mousazadeh Associate Professor, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran Reza Alimardani Professor, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran Hamid Jafarbiglu Ph.D. Candidate, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran Elham Omrani Ph.D. Candidate, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran Ashkan Makhsoos Graduated Student, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran Ali Kiapey Graduated Student, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran Journal Article 2017 07 04 Nowadays, the growth of in-vehicle and off-road vehicle technology is significant and the need to develop its related infrastructure to maximize their capacity for land, sea and air transportation is essential and unavoidable. It is time consuming and costly to monitoring the environment in water, earth and air conditions for a safe operation, without the use of robots. With automatic monitoring, operations can be performed with the least error and 24 hours a day. So the purpose of this research is to develop and evaluate a composite algorithm for navigating an off-road vehicle (Surface Vehicle) and compare it with the results obtained from computer simulations, to check the accuracy of this algorithm. This robot boat is designed and developed for hydrographic construction could navigate and perform hydrographic operations around the clock and fully autonomous without any supervision. Comparison between experimental and simulation results showed that the simulated algorithm had acceptable accuracy and could navigate experimentally. The Standard Deviation (SD) for practical test was below 0.5 m. Nowadays, the growth of in-vehicle and off-road vehicle technology is significant and the need to develop its related infrastructure to maximize their capacity for land, sea and air transportation is essential and unavoidable. It is time consuming and costly to monitoring the environment in water, earth and air conditions for a safe operation, without the use of robots. With automatic monitoring, operations can be performed with the least error and 24 hours a day. So the purpose of this research is to develop and evaluate a composite algorithm for navigating an off-road vehicle (Surface Vehicle) and compare it with the results obtained from computer simulations, to check the accuracy of this algorithm. This robot boat is designed and developed for hydrographic construction could navigate and perform hydrographic operations around the clock and fully autonomous without any supervision. Comparison between experimental and simulation results showed that the simulated algorithm had acceptable accuracy and could navigate experimentally. The Standard Deviation (SD) for practical test was below 0.5 m. https://ijbse.ut.ac.ir/article_68254_d68b5bbe8faaeea6ed11333b1c2b0302.pdf