Basic navigation, guidance and control of an Unmanned Surface Vehicle

Basic navigation, guidance and control of an Unmanned Surface Vehicle

This paper discusses the navigation, guidance and control (NGC) system of an Unmanned Surface Vehicle (USV) through extended at sea trials carried out with the prototype autonomous catamaran Charlie. In particular, experiments demonstrate the effectiveness, both for precision and power consumption,...

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Veröffentlicht in:Autonomous robots 2008-11, Vol.25 (4), p.349-365
Hauptverfasser: Caccia, Massimo, Bibuli, Marco, Bono, Riccardo, Bruzzone, Gabriele
Format: Artikel
Sprache:eng
Schlagworte:
Artificial Intelligence
Autonomous
Catamarans
Computer Imaging
Control
Control surfaces
Control tasks
Control theory
Engineering
Extended Kalman filter
Global Positioning System
Mechatronics
Navigation
Pattern Recognition and Graphics
Power consumption
Proportional integral derivative
Robotics
Robotics and Automation
Robots
Satellite navigation systems
Sea trials
Surface vehicles
Unmanned
Unmanned vehicles
Vision
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Beschreibung
Zusammenfassung:This paper discusses the navigation, guidance and control (NGC) system of an Unmanned Surface Vehicle (USV) through extended at sea trials carried out with the prototype autonomous catamaran Charlie. In particular, experiments demonstrate the effectiveness, both for precision and power consumption, of extended Kalman filter and simple PID guidance and control laws to perform basic control tasks such as auto-heading, auto-speed and straight line following with a USV equipped only with GPS and compass.
ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-008-9100-0