|
|
Publicações
Hinostroza, M.A., Guedes Soares, C. e Xu, H.T. (2018), “Motion planning, guidance and control system for autonomous surface vessel”, Proceedings of the ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering (OMAE 2018), 17-22 June, Madrid, Spain
This paper is an extended version of work published in [10]. We extend our previous work by including simulations for path-planning algorithm, preliminary experiments and better presentation of the control system. The path-planning algorithm is based in the angle-guidance fast marching square method and the path-following is based in the line-of-sight trajectory tracking algorithm. To validate the path-planning algorithm, numerical simulations were carried out to search the optimal path in a static environment of 50x20 m2 of area including various obstacles. The path-following algorithm was tested with an autonomous surface vehicle tracking a pre-established trajectory including static obstacles. The autonomous surface vehicle is a self-running scaled ship model of 2.5 m equipped with motions sensors, GNSS positioning, propulsion DC motors, and wireless communication. From the experiments and numerical simulations, a good agreement was found.
Se nao conseguiu obter uma copia desta publicação: Peça uma cópia desta publicação
Para informação sobre todas as publicações do CENTEC pode descarregar: Lista Completa de Publicações do CENTEC
|