Current Search: Oceanographic instruments -- Development (x)
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Title
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A modular guidance, navigation and control system for unmanned surface vehicles.
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Creator
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Furfaro, Thomas C., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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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...
Show moreThe 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.
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Date Issued
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2012
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PURL
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http://purl.flvc.org/FAU/3342052
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Subject Headings
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Underwater navigation, Adaptive signal processing, Inertial navigation systems, Oceanographic instruments, Development
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Format
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Document (PDF)
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Title
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Stereo vision-based target tracking system for USV operations.
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Creator
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Sinisterra, Armando Jose, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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A methodology to estimate the state of a moving marine vehicle, defined by its position, velocity and heading, from an unmanned surface vehicle (USV), also in motion, using a stereo vision-based system, is presented in this work, in support of following a target vehicle using an USV.
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Date Issued
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2015
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PURL
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http://purl.flvc.org/fau/fd/FA00004466, http://purl.flvc.org/fau/fd/FA00004466
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Subject Headings
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Adaptive control systems, Adaptive signal processing, Computer vision, Inertial navigation systems, Intelligent control systems, Motion segmentaton, Oceanographic instruments -- Development, Ubiquitous computing
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Format
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Document (PDF)
