Autonomous Surface Vehicle Control System

Gurenko, Boris; Fedorenko, Roman; Назаркин, А С

doi:10.4028/www.scientific.net/amm.704.277

Cited by 4 publications

(3 citation statements)

References 9 publications

(8 reference statements)

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“…The equations of a closed-loop system, as shown in [1], is as follows Stability of USV motion along the path is provided by a positive definite matrixes and , which are the parameters of the control law presented in [1].…”

Section: Local Plannermentioning

confidence: 99%

“…Field robotics is rapidly expanding into the aquatic domain [1][2][3][4]. Unmanned Surface Vehicles (USV) are able to provide long lasting operation in the aquatic domain.…”

Section: Introductionmentioning

confidence: 99%

“…Proposed by the authors in [1][2][3][4][5] automatic control system allows to organize automatic motion of USV along the desired path. This article continues this work considering the motion planning process in an environment with obstacles.…”

Section: Introductionmentioning

confidence: 99%

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Local and Global Motion Planning for Unmanned Surface Vehicle

Fedorenko

Gurenko

2016

MATEC Web of Conferences

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Abstract. The paper shows approach of unmanned surface vehicle motion planning in an environment with obstacles. The structure of the control system hardware, software architecture, based on client-server model with the loose coupling in ROS software environment, is presented. Global planner is designed using the method of Generalized Voronoi Diagrams. Local planner is implemented using the unstable regimes of control to bypass obstacles near USV. The results of simulation, which showed the efficiency of the proposed approaches, are presented.

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Section: Local Plannermentioning

confidence: 99%

“…Field robotics is rapidly expanding into the aquatic domain [1][2][3][4]. Unmanned Surface Vehicles (USV) are able to provide long lasting operation in the aquatic domain.…”

Section: Introductionmentioning

confidence: 99%

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Local and Global Motion Planning for Unmanned Surface Vehicle

Fedorenko

Gurenko

2016

MATEC Web of Conferences

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Implementation of Underwater Glider and Identification of Its Parameters

et al. 2016

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This paper is part of a series that describe the development and setup of intelligent underwater vehicle. Here we focus on the implementation tests for the identification of the actuating device parameters. An energy efficient type of glider is chosen with its block diagram presented. The assembled model is placed in a mini pool for movement tests with the objective of setting up the motors and pump. When put in neutral, its immersion and surfacing position show that there is interdependent between pump operation time, ballast bag maze, displacement of weight and glider attitude angle. These dependencies are described by linear equations and coefficients which are then identified.

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