Modelling and Control of an Unmanned Surface Vehicle for Environmental Monitoring
نویسندگان
چکیده
This paper presents an initial study of the autopilot development of an unmanned surface vehicle (USV). The USV named Springer is being developed to carry out pollutant tracking, and environmental and hydrographic surveys in rivers, reservoirs, inland waterways and coastal waters, particularly where shallow waters prevail. The catamaran shaped autonomous vessel is modelled as a two input, single output system whereas the autopilot selected is a genetic algorithm based model predictive controller (MPC). The USV dynamic model is obtained using system identification techniques. Simulation results depicting the autopilot performance in response to changes in the desired course are demonstrated.
منابع مشابه
The design of a navigation, guidance, and control system for an unmanned surface vehicle for environmental monitoring
Maintaining the ecosystem is one of the main concerns in this modern age. With the fear of ever-increasing global warming, the UK is one of the key players to participate actively in taking measures to slow down at least its phenomenal rate. As an ingredient to this process, the Springer vehicle has been designed and is being developed for environmental monitoring and pollutant tracking. This p...
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