System Design and Control of a Sail-Based Autonomous Surface Vehicle

被引：0

作者：

Lam, Tin Lun ^{[1
]}

Qian, Huihuan ^{[2
]}

Wang, Zhifeng ^{[1
]}

Chen, Hongjie ^{[1
]}

Li, Yu ^{[1
]}

Xu, Yangsheng ^{[2
]}

机构：

[1] Smart China Res Inst, Hong Kong, Hong Kong, Peoples R China

[2] Chinese Univ Hong Kong, Shenzhen, Guangdong, Peoples R China

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Ocean exploration has attracted enormous interest from human-kind for thousands of years. The sailing boat, propelled by wind is a historical invention. But human-involved marine exploration has high risk and low efficiency. This paper presents a new autonomous surface vehicle (ASV) based on retrofitting a trimaran sailing boat. The previous human-based maneuvering interfaces, i.e. sail and rudder control, are motorized by three electric actuators. The ASV acquires signals of wind speed and direction, GPS position, and rolling angle, determine the heading based on various wind direction. Experiments validates the effectiveness of the ASV.

引用

页码：1034 / 1039

页数：6

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