DocumentCode
872833
Title
A Practical Approach to Modeling and Identification of Small Autonomous Surface Craft
Author
Caccia, Massimo ; Bruzzone, Gabriele ; Bono, Riccardo
Author_Institution
Inst. di Studi sui Sist. Intelligenti per l´´Autom. (CNR-ISSIA), Consiglio Naz. delle Ric., Genova
Volume
33
Issue
2
fYear
2008
fDate
4/1/2008 12:00:00 AM
Firstpage
133
Lastpage
145
Abstract
This paper discusses the theoretical model of an autonomous surface craft (ASC) with respect to the performance of basic sensors usually available onboard small and relatively low- cost vessels. The aim is to define a practical model and the corresponding identification procedure for simulation, guidance, and control of this class of vehicles. The work is supported by the extended at-sea trials carried out with the autonomous catamaran prototype Charlie2005.
Keywords
identification; marine vehicles; mobile robots; Charlie2005; autonomous catamaran prototype; identification procedure; marine robotics; small autonomous surface craft; Autonomous vehicles; identification; marine robotics; modeling;
fLanguage
English
Journal_Title
Oceanic Engineering, IEEE Journal of
Publisher
ieee
ISSN
0364-9059
Type
jour
DOI
10.1109/JOE.2008.920157
Filename
4632173
Link To Document