Relevant bibliographies by topics / Autonomous surface vehicle (ASV)

Academic literature on the topic 'Autonomous surface vehicle (ASV)'

Author: Grafiati
Published: 10 December 2022
Last updated: 29 January 2023

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Contents

Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic 'Autonomous surface vehicle (ASV).'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Journal articles on the topic "Autonomous surface vehicle (ASV)"

1

Rathour, Swarn Singh, Naomi Kato, Naoto Tanabe, Hidetaka Senga, Yukino Hirai, Muneo Yoshie, and Toshinari Tanaka. "Spilled Oil Autonomous Tracking Using Autonomous Sea Surface Vehicle." Marine Technology Society Journal 49, no. 3 (May 1, 2015): 102–16. http://dx.doi.org/10.4031/mtsj.49.3.15.

Full text
Abstract:
Abstract Over the past several decades, a concerted scientific effort has been made to estimate the drift and spread of spilled oil on the ocean surface. However, tracking spilled oil in open water remains challenging. This research focuses on the problem of autonomous oil spill tracking in oceanic marine environments. We describe a sensor-based guidance, navigation, and control system (GNCS) for oil spill tracking by an autonomous surface vehicle (ASV) in unsteady and uncertain environments. First, we describe the design and development of a yacht-shaped ASV that can track spilled oil on the sea surface using data supplied by onboard sensors to control rudder angle and sail area for navigation. Second, we evaluate the performance of a Ultraviolet/fluorometry-based optical sensor for use as an oil detection sensor. Third, we describe an autonomous ASV decision-making algorithm for target speed and direction based on a complete time history of the scanned area around the ASV by the oil detection sensor. Finally, we describe field experiments conducted at the Osaka University pond to validate the performance of the ASV with regard to autonomous oil spill tracking using GNCS based on onboard sensors data for tracking artificial oil targets. This technology has profound implications for oil spill disaster recovery operations.
APA, Harvard, Vancouver, ISO, and other styles
2

Herlambang, T., D. Rahmalia, A. Suryowinoto, F. Yudianto, F. A. Susanto, and M. Y. Anshori. "H-infinity for autonomous surface vehicle position estimation." Journal of Physics: Conference Series 2157, no. 1 (January 1, 2022): 012022. http://dx.doi.org/10.1088/1742-6596/2157/1/012022.

Full text
Abstract:
Abstract Indonesia is a country with a very prominent marine charm, and it is the largest archipelago in the world, covering about 50% of the coral triangle area, providing marine tourist resorts. Therefore tourism development is quite promising. For that purpose, simple boats are of necessity for tourists to enjoy the beauty of such marine tourism. One solution to support such marine tourism sector is the availability of Autonomous Surface Vehicle (ASV). This vehicle will be the interest of this paper. This study used Touristant ASV with dimensions of 1.5 m in diameter, 4 meters in length and 1.3 meters in height. The purpose of this paper is to conduct a study with a focus on the estimation of ASV position with ASV motion influenced by wind speed and wave height by applying the H-infinity method. The position error generated from the simulation shows that the position error has an accuracy of about 96%.
APA, Harvard, Vancouver, ISO, and other styles
3

Ahmada, Alif Ihza, Wahyudi Wahyudi, and Eko Handoyo. "IMPLEMENTASI PENGENDALI PID UNTUK NAVIGASI AUTONOMOUS BERBASIS GLOBAL POSITIONING SYSTEM PADA PURWARUPA AUTONOMOUS SURFACE VEHICLE." Transient: Jurnal Ilmiah Teknik Elektro 9, no. 4 (November 17, 2020): 574–80. http://dx.doi.org/10.14710/transient.v9i4.574-580.

Full text
Abstract:
Indonesia merupakan negara kepulauan yang meiliki wilayah peraian yang sangat luas, sehingga wilayah perairan yang harus dijaga juga sangat luas. Pada penelitian ini dirancang purwarupa sistem autonomous surface vehicle (ASV) yang kedepannya dapat digunakan untuk pengawasan wilayah perairan Indonesia. Perancangan sistem ASV meliputi perancangan perangkat keras yang digunakan dan perancangan pengendalian secara autonomous dengan pengendali Proporsional Integral Derifatif (PID) untuk mengendalikan motor servo. Perangkat keras yang digunakan untuk navigasi secara autonomous meliputi GPS receiver dan sensor magnetometer LIS3MDL. Sensor magnetometer digunakan sebagai umpan balik pengendali PID dan GPS receiver digunakan untuk mengetahui posisi dari ASV secara real time. Navigasi autonomous dilakukan dengan memberikan perintah berupa waypoint ke ASV. Pengendali PID akan membuat ASV mengikuti waypoint yang diberikan secara autonomous. Perancangan Pengendali PID dengan metode tuning trial and error didapatkan parameter Kp 1,5, Ki 0,3, dan Kd 0,2. Hasil pengujian PID yang dilakukan menunjukkan ASV dapat mencapai setpoint dalam waktu rata-rata selama 4,06 detik. Pengujian sistem kendali PID pada ASV dilakukan dengan beberapa bentuk lintasan, yaitu zigzag, bujur sangkar, dan sembarang. ASV dapat menyelesaikan misi pada setiap lintasan yang diberikan.
APA, Harvard, Vancouver, ISO, and other styles
4

Agustianto, Khafiddurrohman, and Dyah Ayu Dwijayanti. "Autonomous Surface Vehicle Controlling Menggunakan Kinect untuk Observasi Terumbu Karang." Jurnal Teknologi Informasi dan Terapan 6, no. 2 (December 24, 2019): 85–92. http://dx.doi.org/10.25047/jtit.v6i2.119.

Full text
Abstract:
Autonomous Surface Vehicles (ASV) is a platform that is capable of recognizing oceanographic data that is moving on the surface of the sea. The ASV is commonly controlled using a remote RC, smartphones, joysticks, and keyboards. The development of control system innovations in the form of NUI, then ASV can be controlled using Kinect by someone without having to touch the remote. The study developed a marker-less ASV control using the Kinect skeleton feature to get the coordinate value to be the angle value of the right and left hand movement in the implemation as the value of the input fuzzy sugeno algorithm, which resulted in PWM speed output value. This marker-less development communicates wirelessly using the Xbee Pro S28 received by the Arduino Mega for communication and processing the running brushless motor and the ASV generates the movement according to the value received. Effect of light on Kinect in the efficient skeleton tracking process in the room maximum 53105 lux, and in the room maximum 201 lux. Object Spacing (Brainware) to read in the tracking process of the Kinect position of the efficient at a height of 120cm, and angle 00. Kinect communication distance with ASV reaches up to 10000cm. The success of a fuzzy calculation with the result of the movement of the ASV robot is 89.9%.
APA, Harvard, Vancouver, ISO, and other styles
5

Kitowski, Zygmunt. "System Architecture of Mission Planning and Autonomous Surface Vessel Control." Solid State Phenomena 210 (October 2013): 252–57. http://dx.doi.org/10.4028/www.scientific.net/ssp.210.252.

Full text
Abstract:
The paper presents system architecture of mission planning and autonomous surface vehicle (ASV) "Edredon" control. The modular structure of the system makes possible realization of many tasks related to an ASV management. Due to appropriate configuration of its modules, it can perform such tasks as: mission planning on the command post, autonomous control of an ASV, as well as to serve as a training simulator for operators training and a simulator for ASVs control algorithms evaluation.
APA, Harvard, Vancouver, ISO, and other styles
6

Ibrahim, Ibrahim, Wahyudi Wahyudi, and Eko Handoyo. "PERANCANGAN TELECONTROLLING DAN TELEMETERING PADA GROUND CONTROL STATION UNTUK PURWARUPA AUTONOMOUS SURFACE VEHICLE." Transient: Jurnal Ilmiah Teknik Elektro 9, no. 4 (December 17, 2020): 581–88. http://dx.doi.org/10.14710/transient.v9i4.581-588.

Full text
Abstract:
Ground Control Station (GCS) digunakan untuk mengendalikan dan memantau sebuah kendaraan tanpa awak secara nirkabel. GCS dirancang agar mampu memberikan informasi dan kendali yang cukup, sehingga misi yang diberikan kepada Autonomous Surface Vehicle (ASV) dapat terlaksana secara autonomous dengan intervensi telecontrolling yang minimal dari operator. Penelitian ini membahas mengenai perancangan GCS dalam mengoperasikan sebuah ASV. Microsoft Visual Studio Express 2012 digunakan dalam pengembangan perangkat lunak GCS. Modul telemetri radio 3DR 433Mhz digunakan sebagai media komunikasi antara GCS dan ASV. Berdasarkan pengujian, jarak optimal penggunaan modul radio 3DR 433Mhz untuk mengirim dan menerima data adalah 100 meter. Fitur telecontrolling pada GCS yang dirancang berupa parameter kecepatan, start/stop ASV, tuning PID, waypoint, dan failsafe. Fitur telemetering pada GCS yang dirancang berupa data latitude, longitude, heading, bearing, error hadap, jarak ASV ke waypoint selanjutnya, juga umpan balik PWM, state misi, nilai Kp, Ki, Kd, Sp, dan failsafe. Fitur lain pada GCS adalah menampilkan peta hybrid dan menyimpan data ASV dalam dokumen csv.
APA, Harvard, Vancouver, ISO, and other styles
7

Wang, Hongjian, Linlin Wang, and Lixin Pan. "Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle." Journal of Applied Mathematics 2014 (2014): 1–15. http://dx.doi.org/10.1155/2014/347589.

Full text
Abstract:
Considering the case of ASV (autonomous surface vehicle) navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Control system design is based on GPC (general predictive control) theory and working principle of zero-speed fin stabilizer. Coupling horizontal motion model of ASV is decoupled, and an equivalent transfer function of roll motion is obtained and transformed into a discrete difference equation through inverse Laplace transformation and Euler approximation. Finally, predictive model of GPC, namely, the difference equation of roll motion, is given. GPC algorithm of ASV roll motion is derived from performance index based on roll stabilizing performance and energy consumption used for driving fin stabilizer. In allusion to time-variant parameters in roll motion model, recursive least square method is adopted for parameter estimation. Simulation results of ASV roll motion control show better stabilizing performance and minimized energy consumption improved by self-adaptive GPC.
APA, Harvard, Vancouver, ISO, and other styles
8

Nurhadi, Hendro, Erna Apriliani, Teguh Herlambang, and Dieky Adzkiya. "Sliding mode control design for autonomous surface vehicle motion under the influence of environmental factor." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 5 (October 1, 2020): 4789. http://dx.doi.org/10.11591/ijece.v10i5.pp4789-4797.

Full text
Abstract:
Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.
APA, Harvard, Vancouver, ISO, and other styles
9

Kitowski, Zygmunt. "Mission Planning Training Simulator of Autonomous Surface Vehicle (ASV)." Applied Mechanics and Materials 817 (January 2016): 168–76. http://dx.doi.org/10.4028/www.scientific.net/amm.817.168.

Full text
Abstract:
The paper presents the architecture of the mission planning training simulator of the autonomous surface vehicle (ASV) "Edredon". The structure of the simulator is based on a mission planning site, designed by the Polish-Japanese School of Computing, located in the USV command post. Its software allows not only for planning the ASV’s route but also for implementing the training process of an operator preparing the route.
APA, Harvard, Vancouver, ISO, and other styles
10

Lee, Dongwoo, and Joohyun Woo. "Reactive Collision Avoidance of an Unmanned Surface Vehicle through Gaussian Mixture Model-Based Online Mapping." Journal of Marine Science and Engineering 10, no. 4 (March 27, 2022): 472. http://dx.doi.org/10.3390/jmse10040472.

Full text
Abstract:
With active research being conducted on maritime autonomous surface ships, it is becoming increasingly necessary to ensure the safety of unmanned surface vehicles (USVs). In this context, a key task is to correct their paths to avoid obstacles. This paper proposes a reactive collision avoidance algorithm to ensure the safety of USVs against obstacles. A global map is represented using a Gaussian mixture model, formulated using the expectation–maximization algorithm. Motion primitives are used to predict collision events and modify the USV’s trajectory. In addition, a controller for the target vessel is designed. Mapping is performed to demonstrate that the USV can implement the necessary avoidance maneuvers to prevent collisions with obstacles. The proposed method is validated by conducting collision avoidance simulations and autonomous navigation field tests with a small-scale autonomous surface vehicle (ASV) platform. Results indicate that the ASV can successfully avoid obstacles while following its trajectory.
APA, Harvard, Vancouver, ISO, and other styles
More sources

Dissertations / Theses on the topic "Autonomous surface vehicle (ASV)"

1

Özkahraman, Özer. "Multi-Agent Control of Autonomous Surface Vehicles for Shallow Water Exploration and Depth Mapping." Thesis, KTH, Robotik, perception och lärande, RPL, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-209948.

Full text
Abstract:
Mapping is an enabler for further actions. With the map of an area available, it is possible to plan ahead. Maps of landmasses and heavily used deep waters have been produced and are in use but many shallow waters have been largely unmapped. This thesis proposes and examines two methods of control to produce depth maps of shallow waters using multiple autonomous surface vehicles. Assumptions about the environment are kept to a minimum and agents are expected to explore and map inside a given polygonal boundary. Gaussian process regression is used to guide the agents to areas with large uncertainty. A group of autonomous surface vehicles are used for experimental evaluation. Existing works in this area are compared with the method proposed in this thesis to evaluate map quality and time needed to create the map. Results show that one of the proposed methods is best suited for fast and raw map generation while the other strikes a good balance between accuracy and speed.
Att ha tillgång till en karta över ett område är en förutsättning för många olika aktiviteter, och därför har det skapats allt mer exakta kartor över de flesta landområden. För hav och sjöar har man skapat mer ungefärliga djupkartor för att undvika grundstötningar för sjöfart. Grundare områden har däremot ofta undvikits av stora djupmätningsfartyg, och är därför i hög grad okarterade.I denna rapport föreslås och analyseras en metod för att kartera djupet i grunda områden med hjälp av en grupp autonoma ytfarkoster. Givet en polygon inom vilken man vill ha botten karterad skall gruppen autonomt söka av området med få ytterligare antaganden. Gaussiska processer används för att styra farkosterna mot områden med stora mätosäkerheter, och algoritmen utvärderas i riktiga experiment.Resultaten jämförs med befintliga metoders prestanda, med avseende på kartkvalitet och tid för kartering. Resultaten visar att en av de föreslagna metoderna är snabb men mindre noggrann, medan den andra ger en bättre avvägning mellan kvalitet och uppdragstid.
APA, Harvard, Vancouver, ISO, and other styles
2

Gong, Xiaojin. "Omnidirectional Vision for an Autonomous Surface Vehicle." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/30175.

Full text
Abstract:
Due to the wide field of view, omnidirectional cameras have been extensively used in many applications, including surveillance and autonomous navigation. In order to implement a fully autonomous system, one of the essential problems is construction of an accurate, dynamic environment model. In Computer Vision this is called structure from stereo or motion (SFSM). The work in this dissertation addresses omnidirectional vision based SFSM for the navigation of an autonomous surface vehicle (ASV), and implements a vision system capable of locating stationary obstacles and detecting moving objects in real time. The environments where the ASV navigates are complex and fully of noise, system performance hence is a primary concern. In this dissertation, we thoroughly investigate the performance of range estimation for our omnidirectional vision system, regarding to different omnidirectional stereo configurations and considering kinds of noise, for instance, disturbances in calibration, stereo configuration, and image processing. The result of performance analysis is very important for our applications, which not only impacts the ASVâ s navigation, also guides the development of our omnidirectional stereo vision system. Another big challenge is to deal with noisy image data attained from riverine environments. In our vision system, a four-step image processing procedure is designed: feature detection, feature tracking, motion detection, and outlier rejection. The choice of point-wise features and outlier rejection based method makes motion detection and stationary obstacle detection efficient. Long run outdoor experiments are conducted in real time and show the effectiveness of the system.
Ph. D.
APA, Harvard, Vancouver, ISO, and other styles
3

Stahl, Christopher Wayne. "Accumulated Surfaces & Least-Cost Paths: GIS Modeling for Autonomous Ground Vehicle (AGV) Navigation." Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/33266.

Full text
Abstract:
The Geographic Information System (GIS) is a crucial part of any land navigation system. Autonomous ground vehicles should have access to stored geographic data and the ability to manipulate it for routing purposes. Since there is no human interaction involved in operating these vehicles, data that a human driver would use to make decisions must be stored in the GIS. The data which represent the earthâ s surface become a series of factors and constraints which translate to friction in terms of mobility. Factors need to be weighted appropriately, but require a sensitivity analysis before designating these weights. Constraints do not require any weight because they represent absolute barriers which cannot be traveled upon. All GIS layers are incorporated into the raster environment, so that an accumulated surfaces can be built on which a least-cost path can be located. The sensitivity analysis allows generation of many routes which can be field tested for the appropriate weight selection for each factor. Ultimately, the entire process would select an optimal path and output closely spaced waypoints which the vehicle can follow.
Master of Science
APA, Harvard, Vancouver, ISO, and other styles
4

Svensson, Anton. "Composite Hydrofoil Manufacturing For An Autonomous Surface Vessel." Thesis, KTH, Marina system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-273220.

Full text
Abstract:
The use of composite materials has been common in small craft boat building for a long time. In recent years, there has been a huge push in the development of different types of appendages such as hydrofoils. These hydrofoils are commonly manufactured in carbon fibre composites, due to high requirements in weight and stiffness. These appendages can be difficult to develop and complex to manufacture since manufacturing methods for composites are complex. KTH Royal Institute of Technology is developing a hydrofoil concept for a small autonomous vessel. The hydrofoil is designed to be built in carbon fibre composite. It requires to have control surfaces in order to maintain a stable flight and the electrical propulsion is located on it as well. This makes this hydrofoil one of a kind and the parts that build up the hydrofoil have more specifications than just to be designed from a hydrodynamic and structural point of view like a conventional hydrofoil. This thesis investigated what manufacturing methods should be used when building a hydrofoil like this. Existing manufacturing methods such as vacuum infusion and different types of prepreg moulding have been reviewed and are presented early in the report. The methods have been analyzed from the perspective of the components of the hydrofoil, resulting in an initial manufacturing strategy for the different components. The strategy includes everything from a 3D-model of the part to a finished product, including sheet design, mould manufacturing and moulding of the part. Several tests were conducted before a component was successfully manufactured. Each test was evaluated and presented in such a manner that the reader can understand what is needed to be improved and why. The conclusions of each test lead to an improvement of the manufacturing technique and a new test until the final result was acquired. The tests were examined with a microscope to verify the quality of the part. Then a weight fraction analysis was made on these parts. The final conclusions of the thesis gave successful methods to manufacture the different parts of the hydrofoil. A fast manufacturing method for product development of complex parts was achieved. The resulting parts from the tests show good quality from the analysis.
APA, Harvard, Vancouver, ISO, and other styles
5

Riggins, Jamie N. "Location Estimation of Obstacles for an Autonomous Surface Vehicle." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/33227.

Full text
Abstract:
As the mission field for autonomous vehicles expands into a larger variety of territories, the development of autonomous surface vehicles (ASVs) becomes increasingly important. ASVs have the potential to travel for long periods of time in areas that cannot be reached by aerial, ground, or underwater autonomous vehicles. ASVs are useful for a variety of missions, including bathymetric mapping, communication with other autonomous vehicles, military reconnaissance and surveillance, and environmental data collecting. Critical to an ASV's ability to maneuver without human intervention is its ability to detect obstacles, including the shoreline. Prior topological knowledge of the environment is not always available or, in dynamic environments, reliable. While many existing obstacle detection systems can only detect 3D obstacles at close range via a laser or radar signal, vision systems have the potential to detect obstacles both near and far, including "flat" obstacles such as the shoreline. The challenge lies in processing the images acquired by the vision system and extracting useful information. While this thesis does not address the issue of processing the images to locate the pixel positions of the obstacles, we assume that we have these processed images available. We present an algorithm that takes these processed images and, by incorporating the kinematic model of the ASV, maps the pixel locations of the obstacles into a global coordinate system. An Extended Kalman Filter is used to localize the ASV and the surrounding obstacles.
Master of Science
APA, Harvard, Vancouver, ISO, and other styles
6

Watts-Willis, Tristan A. "Autonomous model selection for surface classification via unmanned aerial vehicle." Scholarly Commons, 2017. https://scholarlycommons.pacific.edu/uop_etds/224.

Full text
Abstract:
In the pursuit of research in remote areas, robots may be employed to deploy sensor networks. These robots need a method of classifying a surface to determine if it is a suitable installation site. Developing surface classification models manually requires significant time and detracts from the goal of automating systems. We create a system that automatically collects the data using an Unmanned Aerial Vehicle (UAV), extracts features, trains a large number of classifiers, selects the best classifier, and programs the UAV with that classifier. We design this system with user configurable parameters for choosing a high accuracy, efficient classifier. In support of this system, we also develop an algorithm for evaluating the effectiveness of individual features as indicators of the variable of interest. Motivating our work is a prior project that manually developed a surface classifier using an accelerometer; we replicate those results with our new automated system and improve on those results, providing a four-surface classifier with a 75% classification rate and a hard/soft classifier with a 100% classification rate. We further verify our system through a field experiment that collects and classifies new data, proving its end-to-end functionality. The general form of our system provides a valuable tool for automation of classifier creation and is released as an open-source tool.
APA, Harvard, Vancouver, ISO, and other styles
7

Poudel, Om Prakash. "Identification of barriers and least cost paths for autonomous vehicle navigation using airborne LIDAR data." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/43304.

Full text
Abstract:
In the past several years, the Defense Advanced Research Projects Agency (DARPA) has sponsored two Grand Challenges, races among autonomous ground vehicles in rural environments. These vehicles must follow a course delineated by Global Positioning System waypoints using no human guidance. Airborne LIDAR data and GIS can play a significant role in identifying barriers and least cost paths for such vehicles. Least cost paths minimize the sum of impedance across a surface. Impedance can be measured by steepness of slope, impenetrable barriers such as vegetation and buildings, fence lines and streams, or other factors deemed important to the vehicleâ s success at navigating the terrain. This research aims to provide accurate least cost paths for those vehicles using airborne LIDAR data. The concepts of barrier identification and least cost path generation are reviewed and forty-five least cost paths created with their performance compared to corresponding Euclidean paths. The least cost paths were found superior to the corresponding Euclidean paths in terms of impedance as they avoid barriers, follow roads and pass across relatively gentler slopes.
Master of Science
APA, Harvard, Vancouver, ISO, and other styles
8

Kragelund, Sean P. "Optimal sensor-based motion planning for autonomous vehicle teams." Thesis, Monterey, California: Naval Postgraduate School, 2017. http://hdl.handle.net/10945/53003.

Full text
Abstract:
Approved for public release; distribution is unlimited
Reissued 30 May 2017 with correction to student's affiliation on title page.
Autonomous vehicle teams have great potential in a wide range of maritime sensing applications, including mine countermeasures (MCM). A key enabler for successfully employing autonomous vehicles in MCM missions is motion planning, a collection of algo-rithms for designing trajectories that vehicles must follow. For maximum utility, these algorithms must consider the capabilities and limitations of each team member. At a minimum, they should incorporate dynamic and operational constraints to ensure trajectories are feasible. Another goal is maximizing sensor performance in the presence of uncertainty. Optimal control provides a useful frame-work for solving these types of motion planning problems with dynamic constraints and di_x000B_erent performance objectives, but they usually require numerical solutions. Recent advances in numerical methods have produced a general mathematical and computational framework for numerically solving optimal control problems with parameter uncertainty—generalized optimal control (GenOC)— thus making it possible to numerically solve optimal search problems with multiple searcher, sensor, and target models. In this dissertation, we use the GenOC framework to solve motion planning problems for di_x000B_erentMCMsearch missions conducted by autonomous surface and underwater vehicles. Physics-based sonar detection models are developed for operationally relevant MCM sensors, and the resulting optimal search trajectories improve mine detection performance over conventional lawnmower survey patterns—especially under time or resource constraints. Simulation results highlight the flexibility of this approach for optimal mo-tion planning and pre-mission analysis. Finally, a novel application of this framework is presented to address inverse problems relating search performance to sensor design, team composition, and mission planning for MCM CONOPS development.
APA, Harvard, Vancouver, ISO, and other styles
9

Hamren, Rasmus. "APPLYING UAVS TO SUPPORT THE SAFETY IN AUTONOMOUS OPERATED OPEN SURFACE MINES." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-53376.

Full text
Abstract:
Unmanned aerial vehicle (UAV) is an expanding interest in numerous industries for various applications. Increasing development of UAVs is happening worldwide, where various sensor attachments and functions are being added. The multi-function UAV can be used within areas where they have not been managed before. Because of their accessibility, cheap purchase, and easy-to-use, they replace expensive systems such as helicopters- and airplane-surveillance. UAV are also being applied into surveillance, combing object detection to video-surveillance and mobility to finding an object from the air without interfering with vehicles or humans ground. In this thesis, we solve the problem of using UAV on autonomous sites, finding an object and critical situation, support autonomous site operators with an extra safety layer from UAVs camera. After finding an object on such a site, uses GPS-coordinates from the UAV to see and place the detected object on the site onto a gridmap, leaving a coordinate-map to the operator to see where the objects are and see if the critical situation can occur. Directly under the object detection, reporting critical situations can be done because of safety-distance-circle leaving warnings if objects come to close to each other. However, the system itself only supports the operator with extra safety and warnings, leaving the operator with the choice of pressing emergency stop or not. Object detection uses You only look once (YOLO) as main object detection Neural Network (NN), mixed with edge-detection for gaining accuracy during bird-eye-views and motion-detection for supporting finding all object that is moving on-site, even if UAV cannot find all the objects on site. Result proofs that the UAV-surveillance on autonomous site is an excellent way to add extra safety on-site if the operator is out of focus or finding objects on-site before startup since the operator can fly the UAV around the site, leaving an extra-safety-layer of finding humans on-site before startup. Also, moving the UAV to a specific position, where extra safety is needed, informing the operator to limit autonomous vehicles speed around that area because of humans operation on site. The use of single object detection limits the effects but gathered object detection methods lead to a promising result while printing those objects onto a global positions system (GPS) map has proposed a new field to study. It leaves the operator with a viewable interface outside of object detection libraries.
APA, Harvard, Vancouver, ISO, and other styles
10

Selby, William Clayton. "Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/67801.

Full text
Abstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 113-120).
This thesis describes the development of an independent, on-board visual servoing system which allows a computationally impoverished aerial vehicle to autonomously identify and track a dynamic surface target. Image segmentation and target tracking algorithms are developed for the specific task of monitoring whales at sea. The computer vision algorithms' estimates prove to be accurate enough for quadrotor stabilization while being computationally fast enough to be processed on-board the platform. This differs from current techniques which require off-board processing of images for vehicle localization and control. The vision algorithm is evaluated on video footage to validate its performance and robustness. The quadrotor is then modeled to motivate and guide the development of Linear Quadratic Regulator (LQR) controllers for maneuvering the quadrotor. The controllers are tuned using a motion capture system which provides ground truth state measurements. The vision system is integrated into the control scheme to allow the quadrotor to track an iCreate. Additionally, an Extended Kalman Filter (EKF) fuses the vision system position estimates with attitude and acceleration measurements from an on-board Inertial Measurement Unit (IMU) to allow the quadrotor to track a moving target without external localization.
by William Clayton Selby.
S.M.
APA, Harvard, Vancouver, ISO, and other styles
More sources

Books on the topic "Autonomous surface vehicle (ASV)"

1

Tom, Lao, Monali Nkoy, University of Texas at Austin. Dept. of Mechanical Engineering., NASA/USRA University Advanced Design Program., and John F. Kennedy Space Center., eds. Design of an autonomous teleoperated cargo transporting vehicle for lunar base operations. Austin, Tex: Mechanical Engineering Dept., University of Texas at Austin, 1989.

Find full text
APA, Harvard, Vancouver, ISO, and other styles

Book chapters on the topic "Autonomous surface vehicle (ASV)"

1

Price, Eric, Yu Tang Liu, Michael J. Black, and Aamir Ahmad. "Simulation and Control of Deformable Autonomous Airships in Turbulent Wind." In Lecture Notes in Networks and Systems, 608–26. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-95892-3_46.

Full text
Abstract:
Abstract Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique properties, i) dynamic deformation in response to aerodynamic and control forces, ii) high susceptibility to wind and turbulence at low airspeed, iii) high variability in airship designs regarding placement, direction and vectoring of thrusters and control surfaces. We present a flexible framework for modeling, simulation and control of airships. It is based on Robot operating system (ROS), simulation environment (Gazebo) and commercial off the shelf (COTS) electronics, all of which are open source. Based on simulated wind and deformation, we predict substantial effects on controllability which are verified in real-world flight experiments. All our code is shared as open source, for the benefit of the community and to facilitate lighter-than-air vehicle (LTAV) research. (Source code: https://github.com/robot-perception-group/airship_simulation.)
APA, Harvard, Vancouver, ISO, and other styles
2

Nikishin, Vladimir, Maxim Durmanov, and Ivan Skorik. "Low-Cost Unmanned Surface Vehicle for Autonomous Bathymetric Surveillance." In The 1st International Conference on Maritime Education and Development, 83–91. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-64088-0_8.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Karapetyan, Nare, Jason Moulton, and Ioannis Rekleitis. "Meander-Based River Coverage by an Autonomous Surface Vehicle." In Field and Service Robotics, 353–64. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-9460-1_25.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Moulton, Jason, Nare Karapetyan, Michail Kalaitzakis, Alberto Quattrini Li, Nikolaos Vitzilaios, and Ioannis Rekleitis. "Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces." In Field and Service Robotics, 381–94. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-9460-1_27.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Kim, Taejin, Jinwoo Choi, Yeongjun Lee, Jongdae Jung, and Hyun-Taek Choi. "System Design of an Unmanned Surface Vehicle for Autonomous Navigation." In AETA 2016: Recent Advances in Electrical Engineering and Related Sciences, 874–79. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-50904-4_88.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Espensen, Andreas Hald, Oskar Emil Aver, Pernille Krog Poulsen, Inkyung Sung, and Peter Nielsen. "Seabed Coverage Path Re-Routing for an Autonomous Surface Vehicle." In Advances in Intelligent Systems and Computing, 85–92. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-23946-6_10.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Jalal, N. I., A. F. Ayob, S. A. Rahman, and S. Jamaludin. "State of the Art Review on Autonomous Surface Vehicle Maneuvering Assessment." In Lecture Notes in Electrical Engineering, 105–13. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-2406-3_9.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Xu, Fengchi, Yangliu Xie, Shengnan Song, and Fuyu Luo. "Construction Method of Cluster Simulation Test System for Unmanned Surface Vehicle." In Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021), 2104–14. Singapore: Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-9492-9_208.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Winkle, Thomas. "Analysis of Poor Visibility Real-World Test Scenarios." In Product Development within Artificial Intelligence, Ethics and Legal Risk, 45–66. Wiesbaden: Springer Fachmedien Wiesbaden, 2022. http://dx.doi.org/10.1007/978-3-658-34293-7_3.

Full text
Abstract:
AbstractProduct development involving Artificial Intelligence, ethics and legal risks using the example of safe autonomous vehicles involves a number of challenges. These include dealing with complex traffic situations and reliable image recognition under difficult light and weather conditions, such as rain, snow, backlight, wet road surface, spray/splashing water, icing/contamination of windshield/sensors or road markings that are only partially visible. In order to develop and validate automated vehicles with reasonable expenditure, a first area-wide analysis based on 1.28 million police accident reports was conducted including all police reports in Saxony over 10 years concerning bad weather conditions.Based on this large database, 374 accidents were found with regard to perception limitations for the detailed investigation. These traffic scenarios are relevant for automated driving. They will form a key aspect for future development, validation and testing of machine perception including Artificial Intelligence within automated driving functions.
APA, Harvard, Vancouver, ISO, and other styles
10

Su, Jintao, Yunqi Yao, and Wei Wang. "Research on Rules of Engagement for Large-Scale Unmanned Surface Vehicle in Anti-submarine Warfare." In Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021), 197–206. Singapore: Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-9492-9_21.

Full text
APA, Harvard, Vancouver, ISO, and other styles

Conference papers on the topic "Autonomous surface vehicle (ASV)"

1

Watanabe, Yoshitaka, Koji Meguro, Mitsuyasu Deguchi, Yukihiro Kida, and Takuya Shimura. "Integrated Acoustic Communication and Positioning System Between an Autonomous Surface Vehicle and Autonomous Underwater Vehicles." In ASME 2019 38th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/omae2019-96623.

Full text
Abstract:
Abstract In underwater observation using an autonomous underwater vehicle (AUV), a support vessel typically monitors the AUV to support the observation. In order to make the AUV operation more efficient, an autonomous surface vehicle (ASV) and an acoustic multi-access communication and positioning system have developed. The developed acoustic system achieves multi-access with frequency division multiple access (FDMA) method, and the ASV can monitor up to three AUVs simultaneously. Positioning is performed with super short baseline (SSBL) method. The acoustic device has operation mode in which positioning and communication functions are integrated to achieve efficient uplink and accurate downlink simultaneously. Two observation operations were conducted successfully. In one of those, the ASV communicated with two types of AUVs during observation in 1250m water depth, then multiple access were achieved. Even nadir angle for one AUV became almost 40 degrees, the acoustic communication was performed. In another observation, two cruising AUVs were operated with a vessel and the ASV in 1500m water depth. The ASV monitored one AUV. Condition in case the device is equipped on small body of the ASV was evaluated. The communication was performed in this depth in severe condition. Furthermore integrated sequence of positioning and communication was successfully performed. Requirement in next phase, in which operation depth and number of multiple access are increased, is discussed.
APA, Harvard, Vancouver, ISO, and other styles
2

Majid, M. H. A., and M. R. Arshad. "Design of an autonomous surface vehicle (ASV) for swarming application." In 2016 IEEE/OES Autonomous Underwater Vehicles (AUV). IEEE, 2016. http://dx.doi.org/10.1109/auv.2016.7778676.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Freire, Daniel, Jose Silva, Andre Dias, Jose Miguel Almeida, and Alfredo Martins. "Radar-based target tracking for Obstacle Avoidance for an Autonomous Surface Vehicle (ASV)." In OCEANS 2019 - Marseille. IEEE, 2019. http://dx.doi.org/10.1109/oceanse.2019.8867477.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Nugraha, Sapta, Risandi Putra, Eko Prayetno, Hendra Permana, Muhammad Al-Baqir, and Hollanda Kusuma. "Autonomous Surface Vehicle (ASV) Prototype to Determining Ship Routes with PID Using Pixycam." In Proceedings of the 1st International Conference on Sustainable Engineering Development and Technological Innovation, ICSEDTI 2022, 11-13 October 2022, Tanjungpinang, Indonesia. EAI, 2023. http://dx.doi.org/10.4108/eai.11-10-2022.2326325.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Rathour, Swarn Singh, Naomi Kato, H. Senga, N. Tanabe, M. Yoshie, and T. Tanaka. "An Autonomous Robotic Platform for Detecting, Monitoring and Tracking of Oil Spill on Water Surface." In ASME 2016 35th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/omae2016-54714.

Full text
Abstract:
With the aim of aiding mitigation efforts, in mapping and simulating the transport of the discharged hydrocarbon this paper proposes an autonomous surface vehicle (ASV), propelled by wind and water currents for the long-term monitoring of spilled oil on the ocean surface. This paper makes a unique contribution to the literature in proposing a cluster-based decision-making algorithm for sailing the ASV based on a complete scanning history of the area surrounding the vehicle by the oil detection sensor. A Gaussian-based oil cluster filtering algorithm is introduced to identify the largest oil slick patch. The physical constraints of the ASV have been taken in account to allow for the computation of feasible maneuvering headings for sailing to avoid sailing upwind (i.e., in the direction from which the wind is coming). Finally, using neoprene sheets to simulate oil spills, field test experiments are described to validate the operation of the ASV with respect to oil spill tracking using a guidance, navigation, and control system based on onboard sensor data for tracking the artificial oil targets.
APA, Harvard, Vancouver, ISO, and other styles
6

Phillips, Alexander B., Georgios Salavasidis, Matt Kingsland, Catherine Harris, Miles Pebody, Daniel Roper Robert Templeton, Stephen McPhail, et al. "Autonomous Surface/Subsurface Survey System Field Trials." In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). IEEE, 2018. http://dx.doi.org/10.1109/auv.2018.8729740.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Wibowo, Nugroho Setyo, Prawidya Destarianto, Hendra Yufit Riskiawan, Khafidurrohman Agustianto, and Syamsiar Kautsar. "Development of Low-Cost Autonomous Surface Vehicles (ASV) for Watershed Quality Monitoring." In 2018 6th International Conference on Information and Communication Technology (ICoICT). IEEE, 2018. http://dx.doi.org/10.1109/icoict.2018.8528719.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Sousa, Jose P., Bruno M. Ferreira, and Nuno A. Cruz. "Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid." In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). IEEE, 2018. http://dx.doi.org/10.1109/auv.2018.8729815.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Bachmayer, Ralf, Brad de Young, Ron Lewis, Haibing Wang, Levi MacNeil, Vincent Sobalski, Federico Luchino, and Neil Riggs. "The idea, design and current state of development of an Unmanned Submersible Surface Vehicle: USSC SeaDuck." In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). IEEE, 2018. http://dx.doi.org/10.1109/auv.2018.8729732.

Full text
APA, Harvard, Vancouver, ISO, and other styles
10

Fujiwara, Toshifumi, Kangsoo Kim, Masahiko Sasano, Takumi Sato, Shogo Inaba, Akihiro Okamoto, Motonobu Imasato, and Hiroyuki Osawa. "Sea Trials Summarization on Fundamental Formation Control of Multiple Cruising AUVs -2nd Report: 3 Cruising AUVs With 1 ASV Trial, and Hovering AUVs’ AUV-AUV Positioning and Communication-." In ASME 2022 41st International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/omae2022-78370.

Full text
Abstract:
Abstract National Maritime Research Institute (NMRI) has been studying the development of multi-vehicle operation technology for autonomous underwater vehicles (AUVs) and an autonomous surface vehicle (ASV) mainly from the viewpoint of efficient operation. These results were obtained through our participation in the 2nd term Cross-ministerial Strategic Innovation Promotion Program (SIP2), “Innovative Technology for Exploration of Deep Sea Resources” in Japan. In the project, NMRI is promoting an advanced control system for AUVs initiatively together with the lead agency, Japan Agency for Marine-Earth Science and Technology (JAMSTEC). This paper is placed as the second report in the series. The contents of the paper show the results of the fundamental formation control with three cruising AUVs and one ASV in the sea, and the results of AUV-AUV positioning and communication tests with two hovering AUVs. As a result, in the case of the trial of the fundamental formation control, seafloor topography mapping at the coast in Japan was successfully conducted by the AUVs control system. Moreover, two hovering AUVs navigated with positioning and communication each other in the sea having no problem. The results of the two trials are reported and summarized.
APA, Harvard, Vancouver, ISO, and other styles

Reports on the topic "Autonomous surface vehicle (ASV)"

1

Hodgdon, Taylor, Anthony Fuentes, Brian Quinn, Bruce Elder, and Sally Shoop. Characterizing snow surface properties using airborne hyperspectral imagery for autonomous winter mobility. Engineer Research and Development Center (U.S.), October 2021. http://dx.doi.org/10.21079/11681/42189.

Full text
Abstract:
With changing conditions in northern climates it is crucial for the United States to have assured mobility in these high-latitude regions. Winter terrain conditions adversely affect vehicle mobility and, as such, they must be accurately characterized to ensure mission success. Previous studies have attempted to remotely characterize snow properties using varied sensors. However, these studies have primarily used satellite-based products that provide coarse spatial and temporal resolution, which is unsuitable for autonomous mobility. Our work employs the use of an Unmanned Aeriel Vehicle (UAV) mounted hyperspectral camera in tandem with machine learning frameworks to predict snow surface properties at finer scales. Several machine learning models were trained using hyperspectral imagery in tandem with in-situ snow measurements. The results indicate that random forest and k-nearest neighbors models had the lowest Mean Absolute Error for all surface snow properties. A pearson correlation matrix showed that density, grain size, and moisture content all had a significant positive correlation to one another. Mechanically, density and grain size had a slightly positive correlation to compressive strength, while moisture had a much weaker negative correlation. This work provides preliminary insight into the efficacy of using hyperspectral imagery for characterizing snow properties for autonomous vehicle mobility.
APA, Harvard, Vancouver, ISO, and other styles
2

Dahal, Sachindra, and Jeffery Roesler. Passive Sensing of Electromagnetic Signature of Roadway Material for Lateral Positioning of Vehicle. Illinois Center for Transportation, November 2021. http://dx.doi.org/10.36501/0197-9191/21-039.

Full text
Abstract:
Autonomous vehicles (AV) and advanced driver-assistance systems (ADAS) offer multiple safety benefits for drivers and road agencies. However, maintaining the lateral position of an AV or a vehicle with ADAS within a lane is a challenge, especially in adverse weather conditions when lane markings are occluded. For significant penetration of AV without compromising safety, vehicle-to-infrastructure sensing capabilities are necessary, especially during severe weather conditions. This research proposes a method to create a continuous electromagnetic (EM) signature on the roadway, using materials compatible with existing paving materials and construction methods. Laboratory testing of the proposed concept was performed on notched concrete-slab specimens and concrete prisms containing EM materials. An induction-based eddy-current sensor and magnetometers were implemented to detect the EM signature. The detected signals were compared to evaluate the effects of sensor height above the concrete surface, type of EM materials, EM-material volume, material shape, and volume of EM concrete prisms. A layer of up to 2 in. (5.1 cm) of water, ice, snow, or sand was placed between the sensor and the concrete slab to represent adverse weather conditions. Results showed that factors such as sensor height, EM-material volume, EM dosage, types of the EM material, and shape of the EM material in the prism were significant attenuators of the EM signal and must be engineered properly. Presence of adverse surface conditions had a negligible effect, as compared to normal conditions, indicating robustness of the presented method. This study proposes a promising method to complement existing sensors’ limitations in AVs and ADAS for effective lane-keeping during normal and adverse weather conditions with the help of vehicle-to-pavement interaction.
APA, Harvard, Vancouver, ISO, and other styles
3

Olivier, Jason, and Sally Shoop. Imagery classification for autonomous ground vehicle mobility in cold weather environments. Engineer Research and Development Center (U.S.), November 2021. http://dx.doi.org/10.21079/11681/42425.

Full text
Abstract:
Autonomous ground vehicle (AGV) research for military applications is important for developing ways to remove soldiers from harm’s way. Current AGV research tends toward operations in warm climates and this leaves the vehicle at risk of failing in cold climates. To ensure AGVs can fulfill a military vehicle’s role of being able to operate on- or off-road in all conditions, consideration needs to be given to terrain of all types to inform the on-board machine learning algorithms. This research aims to correlate real-time vehicle performance data with snow and ice surfaces derived from multispectral imagery with the goal of aiding in the development of a truly all-terrain AGV. Using the image data that correlated most closely to vehicle performance the images were classified into terrain units of most interest to mobility. The best image classification results were obtained when using Short Wave InfraRed (SWIR) band values and a supervised classification scheme, resulting in over 95% accuracy.
APA, Harvard, Vancouver, ISO, and other styles
4

Event-Triggered Adaptive Robust Control for Lateral Stability of Steer-by-Wire Vehicles with Abrupt Nonlinear Faults. SAE International, July 2022. http://dx.doi.org/10.4271/2022-01-5056.

Full text
Abstract:
Because autonomous vehicles (AVs) equipped with active front steering have the features of time varying, uncertainties, high rate of fault, and high burden on the in-vehicle networks, this article studies the adaptive robust control problem for improving lateral stability in steer-by-wire (SBW) vehicles in the presence of abrupt nonlinear faults. First, an upper-level robust H∞ controller is designed to obtain the desired front-wheel steering angle for driving both the yaw rate and the sideslip angle to reach their correct values. Takagi-Sugeno (T-S) fuzzy modeling method, which has shown the extraordinary ability in coping with the issue of nonlinear, is applied to deal with the challenge of the changing longitudinal velocity. The output of the upper controller can be calculated by a parallel distributed compensation (PDC) scheme. Then an event-triggered adaptive fault-tolerant lower controller (ET-AFTC) is proposed to drive the whole SBW system driving the desired steering angle offered by the upper controller with fewer communication resources and strong robustness. By employing a backstepping technique, the tracking performance is improved. The dynamic surface control (DSC) approach is used to avoid the problem of repeated differentiations, and Nussbaum function is adopted to overcome the difficulty of unknown nonlinear control gain. Both the stability of the upper and lower controllers can be guaranteed by Lyapunov functions. Finally, the simulations of Matlab/Simulink are given to show that the proposed control strategy is effectively able to deal with the abrupt nonlinear fault via less communication resources and perform better in ensuring the yaw stability of the vehicle.
APA, Harvard, Vancouver, ISO, and other styles
You might also be interested in the extended bibliographies on the topic 'Autonomous surface vehicle (ASV)' for particular source types:
Journal articles Dissertations / Theses
We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!

To the bibliography