Dynamic positioning of a diver tracking surface platform (CROSBI ID 622292)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mišković, Nikola ; Nađ, Đula ; Vasilijević, Antonio ; Vukić, Zoran
engleski
Dynamic positioning of a diver tracking surface platform
This paper presents experimental results obtained on an autonomous omnidirectional surface marine platform, developed at the University of Zagreb, during two-week field trials in Murter, Croatia. We focus on results that are a part of the second phase of research on the platform that is intended to be used as a diver tracking platform. This phase includes experimental verification of the control and dynamic positioning (DP) algorithms performed in real environmental conditions, where external disturbances and sensor characteristics have significant influence on the vehicle behaviour. Specifically, we demonstrate 1) experimental results showing successful heading control of the overactuated marine platform even in cases when the platform is performing simultaneous omnidirectional motion ; 2) experimental results demonstrating the quality of the DP algorithm performance, and 3) how GPS update frequency influences the quality of DP performance and the quality of the commanded control signal with the navigation filter that uses only GPS measurement and an uncoupled dynamic model of the omnidirectional marine platform.
Unmanned marine vehicles ; Dynamic positioning ; Marine system navigation ; guidance and control
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
4228-4233.
2014.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 19th World Congress The International Federation of Automatic Control
Boje, Edward ; Xia, Xiaohua
International Federation of Automatic Control
978-3-902823-62-5
1474-6670
Podaci o skupu
19th IFAC World Congress
predavanje
01.01.2014-01.01.2014
Cape Town, Južnoafrička Republika