کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
8062289 | 1520631 | 2018 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Developing a navigation, guidance and obstacle avoidance algorithm for an Unmanned Surface Vehicle (USV) by algorithms fusion
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
Many USVs are equipped with navigation, guidance and control (NGC) algorithms due to human errors that is present in manual navigation of surface vehicles. The Morvarid, a catamaran shaped boat is designed and developed for plotting hydrography map of harbours. To control it autonomously, a fusion algorithm based on EKF, search ball and potential field concept is developed. Some main parameters of dynamic model is derived based on experimental tests and the algorithm is evaluated using hardware-in-the-loop concept. The obstacle avoidance algorithm is assessed for different obstacles in size and position. It is concluded that although the developed algorithm is robust and precise even in the presence of environmental disturbances, however installing powerful thrusters would boost maneuverability more than that is.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 159, 1 July 2018, Pages 56-65
Journal: Ocean Engineering - Volume 159, 1 July 2018, Pages 56-65
نویسندگان
Hossein Mousazadeh, Hamid Jafarbiglu, Hamid Abdolmaleki, Elham Omrani, Farshid Monhaseri, Mohammad-reza Abdollahzadeh, Aref Mohammadi-Aghdam, Ali Kiapei, Yousef Salmani-Zakaria, Ashkan Makhsoos,