Research on the Unmanned Surface Vehicle Kinetics Model for Automatic Berthing

	Research on the Unmanned Surface Vehicle Kinetics Model for Automatic Berthing
	Zhang, MW(张梦巍)1,2,3; He YQ(何玉庆)1,2; Xiong JF(熊俊峰)4
	2020
会议日期	October 23-25, 2020
会议地点	Tianjin, China
关键词	Unmanned surface vehicle Automatic berthing Kinetics model Least square method
页码	3659-3670
英文摘要	The research about the kinetics model for planning and control modules in the robotic system is very important. This paper describes the research about the Unmanned Surface Vehicle (USV) kinetics model based on the classical linear model and modified model under the disturbance of bank effect items for automatic berthing system in the shallow water area. This research utilizes a small-scale USV with GPS/IMU inertial navigation system and two propellers to do some practical fields experiments and identify the parameters of USV linear model and modified model through the least square method, in which the modified model considers the couple hydrodynamics items and second-order items of bank effect. Finally, this paper discusses the rationality and feasibility of the modified USV model for automatic berthing and concludes which items are applied to add on for the automatic berthing research by comparing results of simulation and real experiments.
产权排序	1
会议录	Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
会议录出版者	Springer Science and Business Media Deutschland GmbH
会议录出版地	Berlin
语种	英语
ISSN号	1876-1100
ISBN号	978-981-15-8154-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30073]
专题	中国科学院沈阳自动化研究所
通讯作者	Zhang, MW(张梦巍)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning Province, Shenyang 110016, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Liaoning Province, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Academician Expert Workstation, Shenyang Institute of Automation Guangzhou, Chinese Academy of Sciences, Guangdong 511458, China
推荐引用方式 GB/T 7714	Zhang, MW,He YQ,Xiong JF. Research on the Unmanned Surface Vehicle Kinetics Model for Automatic Berthing[C]. 见:. Tianjin, China. October 23-25, 2020.