Basic navigation, guidance and control of an Unmanned Surface Vehicle

被引：170
|
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
收藏
页码：349 / 365
页数：17
相关论文
共 50 条
  • [21] Navigation, Guidance, and Control of a Micro Unmanned Aerial Glider
    Kahn, Aaron D.
    Edwards, Daniel J.
    [J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2019, 42 (11) : 2474 - 2484
  • [22] Immersive virtual simulation system design for the guidance, navigation and control of unmanned surface vehicles
    Huang, Fanghao
    Chen, Xuanlin
    Xu, Yun
    Yang, Xiao
    Chen, Zheng
    [J]. OCEAN ENGINEERING, 2023, 281
  • [23] Laser ranging system for navigation and autonomous guidance of an unmanned ground vehicle
    Koopman, RJH
    van den Toorn, R
    [J]. INTERNATIONAL CONFERENCE ON IMAGING SCIENCE, SYSTEMS, AND TECHNOLOGY, PROCEEDINGS, 1999, : 264 - 270
  • [24] Monocular Vision Guidance for Unmanned Surface Vehicle Recovery
    Li, Zhongguo
    Xi, Qian
    Shi, Zhou
    Wang, Qi
    [J]. APPLIED SCIENCES-BASEL, 2024, 14 (12):
  • [25] Guidance of Unmanned Surface Vehicles Experiments in Vehicle Following
    Bibuli, Marco
    Caccia, Massimo
    Lapierre, Lionel
    Bruzzone, Gabriele
    [J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 2012, 19 (03) : 92 - 102
  • [26] Adaptive Semantic Segmentation for Unmanned Surface Vehicle Navigation
    Zhan, Wenqiang
    Xiao, Changshi
    Wen, Yuanqiao
    Zhou, Chunhui
    Yuan, Haiwen
    Xiu, Supu
    Zou, Xiong
    Xie, Cheng
    Li, Qiliang
    [J]. ELECTRONICS, 2020, 9 (02)
  • [27] System Design of an Unmanned Surface Vehicle for Autonomous Navigation
    Kim, Taejin
    Choi, Jinwoo
    Lee, Yeongjun
    Jung, Jongdae
    Choi, Hyun-Taek
    [J]. AETA 2016: RECENT ADVANCES IN ELECTRICAL ENGINEERING AND RELATED SCIENCES: THEORY AND APPLICATION, 2017, 415 : 874 - 879
  • [28] Visual Tracking of Objects for Unmanned Surface Vehicle Navigation
    Chae, Kyung Hwa
    Moon, Yong Seon
    Ko, Nak Yong
    [J]. 2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2016, : 335 - 337
  • [29] Guidance, Navigation, and Control System Design for Tripropeller Vertical-Takeoff-and-Landing Unmanned Air Vehicle
    Huang, Rui
    Liu, Yong
    Zhu, J. Jim
    [J]. JOURNAL OF AIRCRAFT, 2009, 46 (06): : 1837 - 1856
  • [30] Collision avoidance guidance and control scheme for vector propulsion unmanned surface vehicle with disturbance
    Sun, Xiaojie
    Wang, Guofeng
    Fan, Yunsheng
    [J]. APPLIED OCEAN RESEARCH, 2021, 115
12345