کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
715755 892209 2013 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Speed Constraints Handling in USV Swarm Path-Following Frameworks
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Speed Constraints Handling in USV Swarm Path-Following Frameworks
چکیده انگلیسی

This paper focuses on the improvement of a swarm-based path-following guidance system for an autonomous marine multi-vehicle system. In the seminal idea a team of Unmanned Surface Vehicles (USVs) is required to join into a formation by means of a potential-based swarm aggregation methodology, while a virtual-target based guidance module drives the whole formation towards a desired reference path. Such a framework is then enhanced by taking into account the vehicles' positive surge speed constraint and maximum limit, typical of marine systems. The analysis of the results is reported to prove the feasibility and reliability of the proposed methodology, as well as the performance evaluation of the overall system.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 46, Issue 33, 2013, Pages 73–78
نویسندگان
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