检索结果-南通市图书馆

Experimental Evaluation of A New Developed Algorithm for An Autonomous Surface Vehicle and Comparison with Simulink Results

引用

China Ocean engineering 2019年第3期33卷 268-278页

作者： Hossein MOUSAZADEH Ali KIAPEY mechanical engineering of biosystems University of Tehran Tehran Iran mechanical engineering of biosystems and expert of ports and maritime organization Tehran Iran

Performing repeatable duties automatically was the dreams of human being for centuries. Although full autonomy has long been dreamed of by visionaries, many researches have been performed for surface vehicles automation since the last century to get close to this dream stepwise. To increase daily working hours and accuracy and reduce cost, operations such as hydrography are susceptible for autonomy. Beside platform topology, installed sensors and energy resources, the core elements of any autonomous surface vehicle are navigation, guidance and control systems. To perform bathymetry operation in autonomy manner, a reliable and robust navigation algorithm is designed and embedded in an autonomous surface vehicle titled Morvarid. Morvarid is a plug-in hybrid solar powered catamaran boat. The developed algorithm is a combination of extended Kalman filter, search ball and potential field approaches. Many experimental field tests are carried out after simulation in Simulink environment. Test results illustrated the algorithm and improved the path followed by reducing SD and RMSE and there is a good correlation between simulation run and experimental tests.

关键词： autonomous surface vehicle extended Kalman filter search ball trajectory tracking bathymetry

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Experimental evaluation of a hydrography surface vehicle in four navigation modes

引用

Journal of Ocean engineering and Science 2017年第2期2卷 127-136页

作者： Hossein Mousazadeh Jafarbiglu Hamid Omrani Elham Monhaseri Farshid Kiapei Ali Salmani-Zakaria Yousef Makhsoos Ashkan mechanical engineering of biosystems University of TehranIran mechanical engineering of biosystems University of Shahrekord and Expert of Ports and Maritime OrganizationIran

Considering the effectiveness of maritime transportation,a large number of world’s trade is carried by sea and *** ports and harbors are essential for 24 hourly loading/unloading of *** this regard,bathymetry and monitoring of depth data especially in real time manner would be very valuable and *** plot hydrography map of ports and harbors in the bureau as online and with low cost,a Surface Vehicle(SV)is designed and *** vehicle could navigate in four *** could seat on the boat and run by joystick or stand in slipway and control by Remote Controller(RC)or seat in the office and navigate by a user friend graphical *** the boat could navigate fully autonomous without any *** accuracy and precision of four mentioned navigation modes was the main objective of this *** results illustrated that autonomous mode with Standard Deviation(SD)of below 0.5 m was the most precision and comfortable mode,while RC is the more reliable and trustworthy.

关键词： Autonomous,Navigation Hydrography Surface vehicle Monitoring

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：