DocumentCode :
1754076
Title :
Simulation of Adaptive Isobath Tracking for Unmanned Surface Bathymetry Vehicle
Author :
Yanfeng, Wang ; Jiucai, Jin ; Sheng, Guan ; Jie, Zhang
Author_Institution :
First Inst. of Oceanogr., State Oceanic Adm., Qingdao, China
Volume :
1
fYear :
2011
fDate :
28-29 March 2011
Firstpage :
495
Lastpage :
499
Abstract :
An Unmanned Surface Vehicle for bathymetry is introduced. Based on fluid dynamic of the USV, its three-degree of freedom motion model is constructed. The heading error is used for the motion model´s feedback variable, and waypoint tracking is achieved by the Line-Of-Sight algorithm. In the adaptive isobath tracking, an oscillating motion of USV is defined firstly, which can be implemented by waypoint tracking. Secondly, a metric used to estimate the direction of isobath is defined, and the direction equals to the expected oscillating running heading. The USV is controlled to move along the heading as oscillating motion to track the isobath. At last, the simulations of waypoint tracking and adaptive isobath tracking are given out.
Keywords :
adaptive control; bathymetry; mobile robots; remotely operated vehicles; underwater vehicles; adaptive isobath tracking simulation; line-of-sight algorithm; motion model feedback variable; unmanned surface bathymetry vehicle; waypoint tracking; Adaptation model; Equations; Mathematical model; Sea surface; Tracking; Vehicles; Adaptive isobath tracking; Bathymetry; Unmanned surface vehicle;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2011 International Conference on
Conference_Location :
Shenzhen, Guangdong
Print_ISBN :
978-1-61284-289-9
Type :
conf
DOI :
10.1109/ICICTA.2011.137
Filename :
5750663
Link To Document :
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