Unmanned boat design for Challenges and verification of unmanned surface ship intelligent navigation

Wang, Guanghang; Shi, Fenghao; Xia, Xiang

doi:10.1109/usys.2018.8778970

Cited by 6 publications

(2 citation statements)

References 2 publications

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“…A diverse range of aquatic surface robots exist [12,15,17,21,23,24]. The focus of this paper is on introducing the (AnSweR) robot that can easily be transported and operated to conduct research activities in ecosystems with difficult access.…”

Section: Related Research Workmentioning

confidence: 99%

The Aquatic Surface Robot (AnSweR), a Lightweight, Low Cost, Multipurpose Unmanned Research Vessel

Sanfilippo

Tang

Steyaert

2021

Communications in Computer and Information Science

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Even though a few examples of aquatic surface robots exist, they are generally expensive, relatively large and heavy and tailored to custom-made hardware/software components that are not openly available to a broad public. In this work, the Aquatic Surface Robot (AnSweR), a newly-designed, lightweight, low cost, open-source, multipurpose unmanned research vessel is presented. The An-SweR features a lightweight and compact design that makes it fit in a backpack. Low-noise operation (in and above the surface) is achieved with a propulsion system based on two water-jets. Only affordable commercial-off-the-shelf (COTS) components are adopted. The primary goal of the AnSweR is to map underwater landscapes and to collect bathymetry data in lakes, rivers, and coastal ecosystems. A modular hardware and software architecture is adopted. This architecture allows the AnSweR to be equipped with a customisable add-on set of sensors and actuators to enable a variety of research activities, such as measuring environmental variables (e.g., salinity, oxygen, temperature) and sampling operations (e.g., sediment, vegetation, microplastics). The software architecture is based on the Robot Operating System (ROS). This paper describes the design of AnSweR as the main scientific contribution and presents preliminary simulation and experimental results which illustrate its potential.

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Section: Related Research Workmentioning

confidence: 99%

The Aquatic Surface Robot (AnSweR), a Lightweight, Low Cost, Multipurpose Unmanned Research Vessel

Sanfilippo

Tang

Steyaert

2021

Communications in Computer and Information Science

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“…Intelligent ships technology is a set of technologies that can improve the intelligent level of ships in navigation, management, maintenance, cargo transportation, and other aspects (Pu et al, 2020). From the perspective of intelligent navigation, intelligent ships are required to realize the functions of autonomous navigation, automatic berthing in open waters, and automatic obstacle avoidance in complex waters, which impose high requirements for the propulsion system (Wang et al, 2018a). Intelligent ships, such as replenishment ships, semisubmersible drilling rig, and other special ships, require high precision and good safety operation and usually have multiple thrusters (Liu and Xiao, 2021).…”

Section: Introductionmentioning

confidence: 99%

A thrust allocation strategy for intelligent ships based on model prediction control

Zhu

Wang

Gao

et al. 2023

Transactions of the Institute of Measurement and Control

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In order to solve the problem of the traditional sequential quadratic programming thrust allocation method, such as limited feasible region and low propulsion efficiency, a thrust allocation strategy based on model predictive control is proposed in this paper. The proposed thrust allocation strategy is realized by rolling optimization of model predictive control, and moreover, considering the possibility of thruster failure, a fault-tolerant thrust allocation strategy is proposed. The simulation results show that the proposed strategy can not only make the ship run in the expected condition but also reduce the average power consumption by 16.3% compared with the traditional sequential quadratic programming method and has good fault tolerance in the face of thruster failure.

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Network Security Risk Analysis of Ship Intelligent Navigation

Zhang¹,

Li²,

Sun³

et al. 2022

Advances in Wireless Communications and Applications

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Unmanned boat design for Challenges and verification of unmanned surface ship intelligent navigation

Cited by 6 publications

References 2 publications

The Aquatic Surface Robot (AnSweR), a Lightweight, Low Cost, Multipurpose Unmanned Research Vessel

The Aquatic Surface Robot (AnSweR), a Lightweight, Low Cost, Multipurpose Unmanned Research Vessel

A thrust allocation strategy for intelligent ships based on model prediction control

Network Security Risk Analysis of Ship Intelligent Navigation

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