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Publicações
Perera, L.P., Moreira, L., Santos, F.P., Ferrari, V., Sutulo, S. e Guedes Soares, C. (2012), “A Navigation and Control Platform for Real-Time Manoeuvring Tests of Autonomous Ship Models”, 9th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC 2012), 19-21 Setembro, Arenzano, Itália
The development of a control and navigation platform for an autonomous surface vessel (ASV) being a scaled self-propelled model of a real ship is presented in this paper. The overall system is described under the hardware structure and the software architecture. The system hardware structure is further divided into the command and monitoring unit (CMU) and the communication and control unit (CCU). The ashore based CMU is used to control the ASV through a wireless Ethernet communication; the ASV mainly consists of the on-board CCU. The system software architecture mainly consists of several software loops for collecting the sensor data and controlling the rudder and propeller actuations. Furthermore, a touch panel as the human machine interface (HMI) is used for autonomous and manual control of the ASV has been implemented. Finally, the future experimental implementations of the ASV are discussed in this paper.
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