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Guidance of a Small-Scale Overactuated Marine Platform – Experimental results


Mišković, Nikola; Triska, Zoran; Nađ, Đula; Vukić, Zoran
Guidance of a Small-Scale Overactuated Marine Platform – Experimental results // Proceedings of the 34th international convention on information and communication technology, electronics and microelectronics vol. III (MIPRO/CTS 2011) / Bogunović, Nikola ; Ribarić, Slobodan (ur.).
Rijeka: Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO, 2011. str. 39-44 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Guidance of a Small-Scale Overactuated Marine Platform – Experimental results

Autori
Mišković, Nikola ; Triska, Zoran ; Nađ, Đula ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 34th international convention on information and communication technology, electronics and microelectronics vol. III (MIPRO/CTS 2011) / Bogunović, Nikola ; Ribarić, Slobodan - Rijeka : Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO, 2011, 39-44

ISBN
978-953-233-062-5

Skup
34th international convention on information and communication technology, electronics and microelectronics (MIPRO/CTS 2011)

Mjesto i datum
Opatija, Hrvatska, 23.-27.05.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Marine vehicles ; marine control ; control ; guidance and navigation of marine vehicles

Sažetak
This paper presents the continuation of a project first presented at MIPRO'10 conference. The project includes a small-scale marine platform (PlaDyPos) developed at the Laboratory for Underwater Systems and Technologies (LABUST), University of Zagreb which is used for testing control and guidance algorithms for marine vehicles. The paper focuses on the analysis of experimental results obtained on a real overactuated platform. The experiments have exhibited satisfactory behaviour. The proposed guidance algorithm consists of a line following controller decoupled from heading control, enabling motion in arbitrary directions while keeping a predefined orientation. The greatest contribution of the paper is in providing the proof-of-concept of the proposed guidance algorithms. Other experiments performed on the laboratory platform are available online. The following steps of research include collaborative behaviour between the platform and human divers.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0362975-2999 - RoboMarSec - Podvodna robotika u zaštiti podmorja i pomorskoj sigurnosti (Zoran Vukić, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb