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The purpose of this work is the development of a hybrid guidance and control system for the trajectory tracking task of an underactuated Unmanned Surface Vehicle (USV). The novelty of the guidance system is based on neural dynamics and sliding mode integration. The biological neural dynamics model is designed to smooth the outputs of the sliding mode control, avoid sharp speed jumps and satisfy the...
A current trend in marine robotics consists of performance evaluation of Unmanned Marine Vehicles (UMVs) guidance systems. This paper contributes to this by defining and testing performance indices and metrics to quantitatively measure and compare path-following performance. It focuses on the definition of a new criterion for evaluating the capability of an Unmanned Surface Vehicle (USV) to follow...
This work proposes the exploitation and results of Unmanned Surface Vehicles (USVs) for the bathymetric sampling application. In particular the paper reports the high-resolution data set collected during a first sampling campaign carried out in the Loano area (sited in Liguria region, Italy). The sampling campaign covered the Loano beach area which is characterized by a very shallow water area, thus...
This article discusses the possibility of building online a mosaic of the seafloor relying on a SLAM framework. The goal is to provide the ROV operator with an approximated seafloor's visual map relatively rough. In order to have that map, it is important to get an accurate estimate of the location of the visual landmarks and, in particular, a correct data association when a visual landmark is re-visited...
This paper demonstrates the use of self-oscillation identification experiments for tuning line following controllers for marine vehicles. Two approaches are described: first, when the controller output is yaw rate and second when controller output is reference heading. In the first case, low level controller is yaw rate while in the second it is heading controller. The identification by use of self-oscillations...
This paper focuses on preliminary results of a system for online video mosaicing for ROVs operating in the proximity of the seabed. The proposed approach relies on a simultaneous localisation and mapping (SLAM) system already tested in typical operating conditions with the Romeo ROV. In particular, previous experimental activity demonstrated the possibility of defining suitable unambiguous features,...
This paper discusses the requirements, design, construction and development of the ALuminum Autonomous Navigator for Intelligent Sampling (ALANIS), an unmanned surface vehicle (USV) developed by the Autonomous robotic systems and control group of CNR-ISSIA Genova basically for coastal monitoring. The onboard automation system of the rubber boat shaped aluminum vessel manages the steering and throttle...
Determining a model of marine vehicles for the control purposes can be a very time-consuming process. Much faster identification method has been proposed based on the use of self-oscillation identification method. In this article we demonstrate the use of the proposed method for heading controller tuning of the autonomous unmanned surface vehicle (USV) Charlie. The Charlie USV is a small catamaran-like...
A line following guidance solution for underactuated marine systems is presented. The approach differs from other ones known in the literature in the definition of the error variables to be stabilized to zero. The proposed guidance technique has been applied to the Charlie USV (Unmanned Surface Vehicle), developed by CNR-ISSIA Autonomous robotic systems and control group, and experimental results...
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