Design and Modeling of Unmanned Trimaran Surface Vehicles

摘要：

The design, development, modeling and sea trials of the Unmanned Trimaran Surface Vehicles (UTSV) are presented in this paper. Hardware and sensors for navigation, localization and obstacle avoidance was developed. Sensors were chosen to provide the necessary data for an autonomous controller For control design, six DOF dynamic modeling of autonomous Trimarans is presented. The detailed mathematical modeling is intended to provide the appropriate framework for a control design which explicitly addressed the six DOF UTSV dynamics. A control system was developed based on backstepping to guide the vessel to track desired trajectories based on the input of the sensors. Physical experiments were conducted to determine the maneuvering property of UTSV.

作者: Yan Peng Jianda Han

作者单位: State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Nanta street114＃,Shenyang 110016,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 751-756

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）