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Development of a multi-purpose unmanned surface vehicle and simulation comparison of path tracking methods

Authors
Kim, T.Choi, J.Lee, Y.Choi, H.-T.
Issue Date
2016
Publisher
Institute of Electrical and Electronics Engineers Inc.
Keywords
Navigation; System development; Unmanned surface vehicle
Citation
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, pp 447 - 451
Pages
5
Journal Title
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Start Page
447
End Page
451
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8537
DOI
10.1109/URAI.2016.7734079
ISSN
0000-0000
Abstract
Recently, a number of unmanned surface vehicles (USVs) have been developed and researched for various fields such as military, environment and robotics. These vehicles are used as an application platform of diverse algorithms. This paper introduces a development of a multi-purpose USV eVe-1. Also, several path tracking methods are compared by using simulation. The hardware of eVe-1 is designed as a catamaran. It consists of power system, control system, various sensors, and two thrusters. Functions of the software are collecting sensor data, processing algorithms for a mission, and transmitting information for remote control. Three tracking methods for navigation of USV are compared with each other: approximate linearization, input/output linearization, and nonlinear control. We carried out simulation of path tracking and experiment to demonstrate the performance of eVe-1. ? 2016 IEEE.
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