Diver Tracking Using Path Stabilization - the Virtual Diver Experimental Results (CROSBI ID 639358)
Prilog sa skupa u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Nađ, Đula ; Mandić, Filip ; Mišković, Nikola
engleski
Diver Tracking Using Path Stabilization - the Virtual Diver Experimental Results
The paper presents experimental results for a diver tracking and monitoring controller. The controller utilizes an existing non-linear path following design to ensure safe manoeuvering around the diver. Controller kinematics is derived in the paper and path following is extended with path positioning to allow improved diver observation. Hardware in-the- loop experiments, presented in this paper, analyse the controller behaviour on a fully- actuated underwater vehicle developed at the Laboratory for Underwater Systems and Technologies (LABUST). During experiments the human diver is replaced with a simulated entity referred to as the virtual diver. Experiments isolate and analyse three main parts of the controller: the approach, path following and diver tracking.
marine systems ; mobile robots ; target tracking ; path control ; nonlinear control
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Podaci o prilogu
214-219.
2016.
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objavljeno
Podaci o matičnoj publikaciji
IFAC-PapersOnLine
Hassani, Vahid
IFAC Proceedings Volumes (IFAC-PapersOnline)
2405-8971
2405-8963
Podaci o skupu
10th IFAC Conference on Control Applications in Marine Systems (CAMS'16)
predavanje
13.09.2016-16.09.2016
Trondheim, Norveška