Cargando…
Navigation and Control of Autonomous Marine Vehicles /
This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications.
| Clasificación: | Libro Electrónico |
|---|---|
| Otros Autores: | , |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Stevenage :
Institution of Engineering & Technology,
2019.
|
| Colección: | IET transportation series ;
11. |
| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Intro; Contents; Preface; 1. Modelling and control of autonomous marine vehicles / Yuanchang Liu and Richard Bucknall; Abstract; 1.1 Introduction; 1.1.1 USV prototypes and core systems; 1.1.2 The control strategies of USV; 1.2 Mathematical modelling of autonomous marine vehicles; 1.2.1 Kinematic motion of marine vehicle; 1.2.2 Dynamic motion of marine vehicle; 1.3 Intelligent path planning and control of autonomous marine vehicles; 1.3.1 Collision risk assessment strategies; 1.3.2 Motion planning for USV; 1.3.3 Autonomous and intelligent navigation of a USV; 1.4 Conclusion; References
- 2. Efficient optimal path planning of unmanned surface vehicles / Yogang Singh, Sanjay Sharma, Robert Sutton, Daniel Hatton, and Asiya KhanAbstract; 2.1 Introduction; 2.1.1 Review of heuristic approaches in path planning of USVs; 2.1.2 A* approach; 2.2 Methodology overview; 2.2.1 Environmental mapping; 2.2.2 Assumptions; 2.2.3 Challenges of incorporating COLREGs in path-planning algorithms; 2.2.4 Incorporating guidance and control system with path-planning algorithm; 2.2.5 Collision avoidance in close encounter situation; 2.3 Simulation results
- 2.3.1 Comparing A* approach with and without safety distance; 2.3.2 Constrained A* approach under static and partially dynamic environment; 2.3.3 Constrained A* approach with environmental disturbances; 2.3.4 Constrained A* approach with single moving obstacle and environmental disturbance; 2.4 Conclusions; References; 3. Collision avoidance of maritime vessels / Wasif Naeem, Sable Campbell de Oliveira Henrique, and Mamun Abu-Tair; Abstract; 3.1 Introduction; 3.1.1 Motivation and background; 3.2 COLREGs; 3.3 APFs; 3.4 Collision risk assessment; 3.5 COLREGs decision maker
- 3.6 COLREGs zones for APF adaptation; 3.7 Simulation results; 3.7.1 Path dynamics; 3.8 Discussion and concluding remarks; Acknowledgement; References; 4. Sliding mode control for path planning guidance of marine vehicles / Shashi Ranjan Kumar, Ashwini Ratnoo, and Debasish Ghose; Abstract; 4.1 Introduction; 4.2 Problem statement; 4.3 Design of impact angle guidance; 4.4 Application of guidance scheme to underwater vehicles; 4.4.1 Sample and hold; 4.4.2 Linear interpolation; 4.4.3 Improved sample and hold; 4.5 Simulation results; 4.5.1 Implementation of guidance law with closed-loop feedback
- 4.5.2 Implementation of guidance law in open loop; 4.6 Conclusions and future work; References; 5. Experimentally based analysis of low altitude terrain following by autonomous underwater vehicles / Sophia M. Schillai, Alexander B. Phillips, Eric Rogers, and Stephen R. Turnock; Abstract; 5.1 Introduction; 5.2 Background; 5.3 Current terrain following strategies; 5.4 Terrain following with Delphin 2; 5.4.1 Terrain detection; 5.4.2 Horizon tracking; 5.4.3 Altitude controller; 5.4.4 Actuation strategy; 5.5 Testwood lake experiment set-up; 5.5.1 Experiment parameter variation
- 5.5.2 Performance analysis