Research on the Unmanned Surface Vehicle Kinetics Model for Automatic Berthing
文献类型：会议论文
| 作者 | Zhang, MW(张梦巍)2,3,4 ; He YQ(何玉庆)3,4; Xiong JF(熊俊峰)1
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| 出版日期 | 2020 |
| 会议日期 | October 23-25, 2020 |
| 会议地点 | Tianjin, China |
| 关键词 | Unmanned surface vehicle Automatic berthing Kinetics model Least square method |
| 页码 | 3659-3670 |
| 英文摘要 | The research about the kinetics model for planning and control modules in the robotic system is very important. This paper describes the research about the Unmanned Surface Vehicle (USV) kinetics model based on the classical linear model and modified model under the disturbance of bank effect items for automatic berthing system in the shallow water area. This research utilizes a small-scale USV with GPS/IMU inertial navigation system and two propellers to do some practical fields experiments and identify the parameters of USV linear model and modified model through the least square method, in which the modified model considers the couple hydrodynamics items and second-order items of bank effect. Finally, this paper discusses the rationality and feasibility of the modified USV model for automatic berthing and concludes which items are applied to add on for the automatic berthing research by comparing results of simulation and real experiments. |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
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| 会议录出版者 | Springer Science and Business Media Deutschland GmbH |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 1876-1100 |
| ISBN号 | 978-981-15-8154-0 |
| 源URL | [http://ir.sia.cn/handle/173321/30073]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 中国科学院沈阳自动化研究所 |
| 通讯作者 | Zhang, MW(张梦巍) |
| 作者单位 | 1.Academician Expert Workstation, Shenyang Institute of Automation Guangzhou, Chinese Academy of Sciences, Guangdong 511458, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Liaoning Province, Shenyang 110016, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning Province, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zhang, MW,He YQ,Xiong JF. Research on the Unmanned Surface Vehicle Kinetics Model for Automatic Berthing[C]. 见:. Tianjin, China. October 23-25, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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