Title :
Modelling and identification of a twin hull-based autonomous surface craft
Author :
Wirtensohn, Stefan ; Reuter, Johannes ; Blaich, Michael ; Schuster, Martin ; Hamburger, Oliver
Author_Institution :
Inst. of Syst. Dynamics, Univ. of Appl. Sci. Konstanz, Konstanz, Germany
Abstract :
In this paper, the process and results of a parameter identification task for a maritime unmanned surface vehicle are presented. The system has been modeled using state of the art methodology, and the parameters have been estimated via a weighted least square optimization approach. The required measurement data have been taken from various maneuvre trials. For solving the optimization problem, a Particle Swarm programming approach has been used, which has reliably found the global minimum of the cost function. The results show excellent agreement between measured and simulated data.
Keywords :
identification; least squares approximations; marine vehicles; particle swarm optimisation; remotely operated vehicles; maritime unmanned surface vehicle; optimization problem; parameter identification task; particle swarm programming approach; state of the art methodology; twin hull-based autonomous surface craft identification; twin hull-based autonomous surface craft modelling; weighted least square optimization approach; Dynamics; Mathematical model; Propellers; Robots; Surges; Vectors; Vehicles;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
DOI :
10.1109/MMAR.2013.6669892