Development of a multi-purpose unmanned surface vehicle and simulation comparison of path tracking methods
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, T. | - |
dc.contributor.author | Choi, J. | - |
dc.contributor.author | Lee, Y. | - |
dc.contributor.author | Choi, H.-T. | - |
dc.date.accessioned | 2023-12-22T08:30:59Z | - |
dc.date.available | 2023-12-22T08:30:59Z | - |
dc.date.issued | 2016 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8537 | - |
dc.description.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. | - |
dc.format.extent | 5 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Development of a multi-purpose unmanned surface vehicle and simulation comparison of path tracking methods | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/URAI.2016.7734079 | - |
dc.identifier.scopusid | 2-s2.0-85000400619 | - |
dc.identifier.bibliographicCitation | 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, pp 447 - 451 | - |
dc.citation.title | 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 | - |
dc.citation.startPage | 447 | - |
dc.citation.endPage | 451 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Artificial intelligence | - |
dc.subject.keywordPlus | Data handling | - |
dc.subject.keywordPlus | Intelligent robots | - |
dc.subject.keywordPlus | Linearization | - |
dc.subject.keywordPlus | Military vehicles | - |
dc.subject.keywordPlus | Navigation | - |
dc.subject.keywordPlus | Remote control | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Vehicles | - |
dc.subject.keywordPlus | Application platforms | - |
dc.subject.keywordPlus | Input/output linearizations | - |
dc.subject.keywordPlus | Multi-purpose | - |
dc.subject.keywordPlus | Non linear control | - |
dc.subject.keywordPlus | Processing algorithms | - |
dc.subject.keywordPlus | Simulation comparison | - |
dc.subject.keywordPlus | System development | - |
dc.subject.keywordPlus | Tracking method | - |
dc.subject.keywordPlus | Unmanned surface vehicles | - |
dc.subject.keywordAuthor | Navigation | - |
dc.subject.keywordAuthor | System development | - |
dc.subject.keywordAuthor | Unmanned surface vehicle | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(34103) 대전광역시 유성구 유성대로1312번길 32042-866-3114
COPYRIGHT 2021 BY KOREA RESEARCH INSTITUTE OF SHIPS & OCEAN ENGINEERING. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.