Title :
Line following guidance control: Application to the Charlie unmanned surface vehicle
Author :
Bibuli, M. ; Bruzzone, G. ; Caccia, M. ; Indiveri, G. ; Zizzari, A.A.
Author_Institution :
CNR-ISSIA, Genoa
Abstract :
A line following guidance solution for underactuated marine systems is presented. The approach differs from other ones known in the literature in the definition of the error variables to be stabilized to zero. The proposed guidance technique has been applied to the Charlie USV (Unmanned Surface Vehicle), developed by CNR-ISSIA Autonomous robotic systems and control group, and experimental results are presented.
Keywords :
marine vehicles; mobile robots; motion control; path planning; remotely operated vehicles; Charlie unmanned surface vehicle; autonomous robotic systems; line following guidance control; underactuated marine systems; Distance measurement; Mathematical model; Sea measurements; Surges; Three dimensional displays; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650890
