Modelling, manoeuvring analysis and course following for two unmanned surface vehicles driven by a single propeller and double propellers

doi:10.1109/CCDC.2015.7162807

CORC > 自然资源部第一海洋研究所 > 自然资源部第一海洋研究所 > 业务部门 > 海洋物理与遥感研究室

	Modelling, manoeuvring analysis and course following for two unmanned surface vehicles driven by a single propeller and double propellers
	Jin, Jiu-Cai 1,2; Jie, Zhang 1,2; Feng, Shao 1,3
	2015-07-17
会议日期	5 23, 2015 - 5 25, 2015
会议地点	Qingdao, China
关键词	Unmanned Surface Vehicle Manoeuvring Performance Course Following Autonomous Control
DOI	10.1109/CCDC.2015.7162807
页码	4932-4937
英文摘要	This paper describes the development of two unmanned surface vehicles (USVs), driven by either a single propeller (called as USBV-I) or double propellers (called as USBV-II), for modelling, manoeuvring analysis, course following and experiments at the First Institute of Oceanography, State Oceanic Administration in China. First, the two USVs are presented. Second, a dynamics model is derived for the USVs based on three degrees-of-freedom equations, which differs from other works in the drag terms. The manoeuvring performance of the two USVs is evaluated and compared for both straight line and circular motion using simulations and experiments, which indicate that the manoeuvrability of USBV-II is superior. Using the identified model for USV-II from experiments' data, the simulation for course following are implemented. Finally, course following lake experiments are performed for USBV-II using a digital compass and indicate that it has a good course following performance. © 2015 IEEE.
会议录	Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering
WOS记录号	WOS:000375232906063
内容类型	会议论文
源URL	[http://ir.fio.com.cn:8080/handle/2SI8HI0U/7167]
专题	业务部门_海洋物理与遥感研究室
作者单位	1.First Institute of Oceanography, State Oceanic Administration, Qingdao, China; 2.Oceanic Telemetry Engineering Technology Research Center, State Oceanic Administration and China Aerospace Science, Technology Corporation, Qingdao, China; 3.School of Physics, University of Qingdao, Qingdao, China
推荐引用方式 GB/T 7714	Jin, Jiu-Cai,Jie, Zhang,Feng, Shao. Modelling, manoeuvring analysis and course following for two unmanned surface vehicles driven by a single propeller and double propellers[C]. 见:. Qingdao, China. 5 23, 2015 - 5 25, 2015.