NDLI: Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Content Provider	IEEE Xplore Digital Library
Author	Elkaim, G. Kelbley, R.
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Eng., California Univ., Santa Cruz, CA (Elkaim, G.)
Abstract	Precision guidance and control of an autonomous, wind-propelled catamaran has been demonstrated by the Atlantis, a modified Prindle-19 catamaran, to be experimentally capable of tracking straight line segments to better than 0.3 meters (1 - sigma). This paper extends Atlantis's guidance and navigation system to provide precision control while traversing a series of way-points and adds station keeping functionality that is the ability for Atlantis to maintain her position at a given way-point in the presence of unknown water currents while motor powered. To achieve this, segmented trajectories are developed using the specified way-points forming line segments and arcs as path primitives. If a segment is unreachable directly due to the wind direction, a real-time tacking control mode is enabled and the Atlantis tacks within a given lane width until its destination is reached. For simulation a nonlinear model of the Atlantis was developed that includes realistic wind and water current models. Monte Carlo simulations of this new guidance and control system on the nonlinear model demonstrate the Atlantis is capable of maintaining a cross-track error of less than one meter throughout the path
Starting Page	2424
Ending Page	2429
File Size	374297
Page Count	6
File Format	PDF
ISBN	1424401712
DOI	10.1109/CDC.2006.377466
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Control systems Computer errors Testing Global Positioning System Error correction Sensor systems USA Councils Propulsion Marine vehicles
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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