Basic navigation, guidance and control of an Unmanned Surface Vehicle

被引：188

作者：

Caccia, Massimo ^{[1
]}

Bibuli, Marco ^{[1
]}

Bono, Riccardo ^{[1
]}

Bruzzone, Gabriele ^{[1
]}

机构：

[1] CNR ISSIA Genova, I-16149 Genoa, Italy

来源：

AUTONOMOUS ROBOTS | 2008年 / 25卷 / 04期

关键词：

Autonomous vehicles; Marine robotics; Guidance systems;

D O I：

10.1007/s10514-008-9100-0

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：349 / 365

页数：17

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[2]

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[3]

Breivik M, 2004, OCEANS '04 MTS/IEEE TECHNO-OCEAN '04, VOLS 1- 2, CONFERENCE PROCEEDINGS, VOLS. 1-4, P2282

[4]

Bruzzone G., 2005, P IARP INT WORKSH UN, P137