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modular guidance, navigation and control system for unmanned surface vehicles
- Date Issued:
- 2012
- Summary:
- The design and integration of an unmanned surface vehicle (USV) control system is described. A survey of related work in both USV control, and unmanned vehicle operating software is presented. The hardware subsystem comprising a modular Guidance, Navigation, and Control (GNC) package is explained. A multi-threaded software architecture is presented, utilizing a decentralized, mutex-protected shared memory inter-process communication subsystem to provide interoperability with additional software modules. A generic GNC approach is presented, with particular elaboration on a virtual rudder abstraction of differential thrust platforms. A MATLAB Simulink simulation is presented as a tool for developing an appropriate controller structure, the result of which was implemented on the target platform. Software validation is presented via a series of sea trials. The USV was tested both in open- and closed-loop control configurations, the results of which are presented here. Lastly recommendations for future development of the GNC system are enumerated.
Title: | A modular guidance, navigation and control system for unmanned surface vehicles. |
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Name(s): |
Furfaro, Thomas C. College of Engineering and Computer Science Department of Ocean and Mechanical Engineering |
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Type of Resource: | text | |
Genre: | Electronic Thesis Or Dissertation | |
Date Issued: | 2012 | |
Publisher: | Florida Atlantic University | |
Physical Form: | electronic | |
Extent: | x, 103 p. : ill. (some col.) | |
Language(s): | English | |
Summary: | The design and integration of an unmanned surface vehicle (USV) control system is described. A survey of related work in both USV control, and unmanned vehicle operating software is presented. The hardware subsystem comprising a modular Guidance, Navigation, and Control (GNC) package is explained. A multi-threaded software architecture is presented, utilizing a decentralized, mutex-protected shared memory inter-process communication subsystem to provide interoperability with additional software modules. A generic GNC approach is presented, with particular elaboration on a virtual rudder abstraction of differential thrust platforms. A MATLAB Simulink simulation is presented as a tool for developing an appropriate controller structure, the result of which was implemented on the target platform. Software validation is presented via a series of sea trials. The USV was tested both in open- and closed-loop control configurations, the results of which are presented here. Lastly recommendations for future development of the GNC system are enumerated. | |
Identifier: | 794275294 (oclc), 3342052 (digitool), FADT3342052 (IID), fau:3855 (fedora) | |
Note(s): |
by Thomas C. Furfaro. Thesis (M.S.C.S.)--Florida Atlantic University, 2012. Includes bibliography. Electronic reproduction. Boca Raton, Fla., 2012. Mode of access: World Wide Web. |
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Subject(s): |
Underwater navigation Adaptive signal processing Inertial navigation systems Oceanographic instruments -- Development |
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Persistent Link to This Record: | http://purl.flvc.org/FAU/3342052 | |
Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
Host Institution: | FAU |