Design and control of an unmanned surface vehicle for environmental monitoring applications

Villa, J.L.; Paez, J.; Quintero, Camacho; Yime, Eugenio; Cabrera, Jesús Hernández

doi:10.1109/ccra.2016.7811411

Cited by 24 publications

(11 citation statements)

References 10 publications

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“…The USV Equation of Motion (EOM) when moving in the longitudinal direction is served in Equation (8). By neglecting the lateral speed, and yaw rotation, the EOM is expressed in Equation (25).…”

Section: Required Thrustermentioning

confidence: 99%

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Development and Performance Measurement of an Affordable Unmanned Surface Vehicle (USV)

et al. 2022

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Indonesia is a maritime country that has vast coastal resources and biodiversity. To support the Indonesian maritime program, a topography mapping tool is needed. The ideal topography mapping tool is the Unmanned Surface Vehicle (USV). This paper proposes the design, manufacture, and development of an affordable autonomous USV. The USV which is composed of thruster and rudder is quite complicated to build. This study employs rudderless and double thrusters as the main actuators. PID compensator is utilized as the feedback control for the autonomous USV. Energy consumption is measured when the USV is in autonomous mode. The Dynamics model of USV was implemented to study the roll stability of the proposed USV. Open-source Mission Planner software was selected as the Ground Control Station (GCS) software. Performance tests were carried out by providing the USV with an autonomous mission to follow a specific trajectory. The results showed that the developed USV was able to complete autonomous mission with relatively small errors, making it suitable for underwater topography mapping.

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Section: Required Thrustermentioning

confidence: 99%

“…In unmanned vehicle navigation, Guidance and Control Systems (GNC) is responsible for obtaining the vehicle's current location relative to a reference coordinate to determine the path and speed of USV [25]. and calculates the necessary forces that each one of the actuators must produce.…”

Section: Guidance Navigation and Control (Gnc)mentioning

confidence: 99%

Development and Performance Measurement of an Affordable Unmanned Surface Vehicle (USV)

et al. 2022

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“…Embarcações de superfície não tripuladas (USVs) dispensam equipe de guarnição. Um USV apresenta uma estrutura física (casco), um sistema de propulsão, um sistema de coleta de dados de sensores, um sistema de comunicação, um sistema de supervisão (na maioria das vezes, denominado estação base) e um sistema de guiagem, navegação e controle (Guidance, Navigation and Control, GNC) que integra os demais sistemas (Naeem et al, 2009;Liu et al, 2016;Villa et al, 2016).…”

Section: Embarcações De Superfície Não Tripuladasunclassified

Protocolo de Comunicação para Frota de Embarcações de Superfície não Tripuladas

Costa

Sztajnberg

Cunha

et al. 2020

Anais Do Congresso Brasileiro De Automática 2020

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Este trabalho aborda a comunicação sem fio para uma frota de veículos de superfície não tripulados (Unmanned Surface Vehicles, USVs) em ambiente aquático. Para realizar a comunicação neste cenário desafiador, propõe-se um protocolo de aplicação que opera sobre uma rede Wi-Fi em modo ad hoc combinado com o protocolo de roteamento AODV (Ad-hoc On-demand Distance Vector). O protocolo proposto utiliza mensagens broadcast IP limitadas a um salto e com comprimentos (bytes) limitados. Foram realizadas simulações para verificar o desempenho do protocolo e identificar suas limitações. Os resultados indicam que o protocolo proposto amplia o alcance da rede de comunicação e pode ser utilizado para o controle cooperativo e monitoramento de USVs.

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“…Sometimes, novelty USV projects reuse existing control software for other unmanned vehicles as UAV [7]. In this case the chosen solution was Monitor Planner, that allows a fast developing of a global solution.…”

Section: Related Workmentioning

confidence: 99%

Secured Architecture for Unmanned Surface Vehicle Fleets Management and Control

Laso¹,

Brosset

Giraud

2018

2018 IEEE 16th Intl Conf on Dependable, Autonomic and Secure Computing, 16th Intl Conf on Pervasive Intelligence and Computing,

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Cyber-physical systems contribute to building new infrastructure in the modern world. These systems help realize missions reducing costs and risks. The seas being a harsh and dangerous environment are a perfect application of them. Unmanned Surface vehicles (USV) allow realizing normal and new tasks reducing risk and cost i.e. surveillance, water cleaning, environmental monitoring or search and rescue operations. Also, as they are unmanned vehicles they can extend missions to unpleasing and risky weather conditions. The novelty of these systems makes that new command and control platforms need to be developed. In this paper, we describe an implemented architecture with 5 separated levels. This structure increases security by defining roles and by limiting information exchanges.

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Design and control of an unmanned surface vehicle for environmental monitoring applications

Cited by 24 publications

References 10 publications

Development and Performance Measurement of an Affordable Unmanned Surface Vehicle (USV)

Development and Performance Measurement of an Affordable Unmanned Surface Vehicle (USV)

Protocolo de Comunicação para Frota de Embarcações de Superfície não Tripuladas

Secured Architecture for Unmanned Surface Vehicle Fleets Management and Control

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