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Path following is one of the key technologies of Unmanned Surface Vehicle (USV) to complete mission. The interference of flow is an inevitable environmental factor, the study of the straight path following of USV is aimed at enhancing the anti-interference ability of the path following control algorithm under the disturbance of flow. Based on the mathematical model of motion considering the influence...
This paper proposes a solution for recovery of spilled oil on dangerous water area with an Unmanned Surface Vehicle(USV). A Dynamic Inclined Plane Skimmer(DIPS) is placed on the front deck of the USV so that it can run to the destination at high speed. For automatic deployment of the DIPS onto the water, a mechanism consisting of two pillars fixed on each side of the front deck, a portal-type frame...
A method for Unmanned Surface Vehicle (USV) to follow linear path is proposed, considering both position error and course error. Based on dynamic model of the USV which is thrust with twin fixed propellers driven by DC electric motors, Cross Track Error and Line of Sight are combined into DIDO controller based on PD. The simulation experiment is conducted and compared with the method using Cross Track...
This paper discusses the sway of a spilled oil recovery apparatus mounted on the unmanned surface vehicle (USV) when it is lifted up off water surface. The dynamic model is established considering the pitch of the USV, and simulation experiment is conducted under the condition of no wind disturbance. The results show that the amplitude and frequency of the pitch are main factors influencing the sway...
Due to the special working environment, some problems should be taken into account for calibration of vision system used on autonomous surface vehicle (ASV). This paper discussed the relation between calibration parameters obtained from different distances. After a brief introduction to the imaging model of camera and the classical calibration methods, the relation between the distance from calibration...
In order to improve endurance and increase distance run of autonomous surface vehicles (ASV) under limited battery capacity, this paper discusses energy consumption of electric propulsion system at different controlling conditions. A mathematical model including the electric motor, propeller and the hull resistance is established, based on which energy consumption in stable cruise and starting process...
This paper presents an Unmanned Surface Vehicle (USV) for multi-mission applications. A small catamaran equipped with remotely operated system based on wireless local area network is developed and used as a universal platform. Outfitted with different appliances and instruments, the USV is tested for various applications including harbor surveillance, water quality sampling, hydrologic survey, maritime...
This paper presents the design of an autonomous surface vehicle (ASV) used for marine environment monitoring or hydrologic survey. A catamaran is used to improve stability against waves, and the shape of high-speed ship is exploited to reduce the resistance. The characteristics of resistance, electric motor and propeller are optimally matched, so that the battery power is saved and the endurance is...
In this paper, a wireless data transmission system used in unmanned surface vehicles is presented. To improve reliability, wireless local network based on IP is employed. Through interface protocol, multi-modal data from different observation instruments or equipments are converted into the uniform specification suitable for transmission. Different control methods of data transmission are discussed...
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