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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yan Peng Jianda Han |
| Copyright Year | 2009 |
| Description | Author affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta street114#, 110016, China (Yan Peng; Jianda Han) |
| Abstract | The design, development, modeling and sea trials of the Unmanned Trimaran Surface Vehicles (UTSV) are presented in this paper. Hardware and sensors for navigation, localization and obstacle avoidance was developed. Sensors were chosen to provide the necessary data for an autonomous controller For control design, six DOF dynamic modeling of autonomous Trimarans is presented. The detailed mathematical modeling is intended to provide the appropriate framework for a control design which explicitly addressed the six DOF UTSV dynamics. A control system was developed based on backstepping to guide the vessel to track desired trajectories based on the input of the sensors. Physical experiments were conducted to determine the maneuvering property of UTSV. |
| Starting Page | 751 |
| Ending Page | 756 |
| File Size | 751506 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424436071 |
| DOI | 10.1109/ICINFA.2009.5205021 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-22 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Remotely operated vehicles Sea surface Backstepping Control design Navigation Control systems Hardware Trajectory Mathematical model Vehicle dynamics |
| Content Type | Text |
| Resource Type | Article |
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