Naslov
Dynamic positioning of a diver tracking surface platform

Autori
Mišković, Nikola ; Nađ, Đula ; Vasilijević, Antonio ; Vukić, Zoran

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

Izvornik
Proceedings of the 19th World Congress The International Federation of Automatic Control / Boje, Edward ; Xia, Xiaohua - : International Federation of Automatic Control, 2014, 4228-4233

ISBN
978-3-902823-62-5

Skup
19th IFAC World Congress

Mjesto i datum
Cape Town, Južnoafrička Republika, 24.08.2014. - 29.08.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Unmanned marine vehicles ; Dynamic positioning ; Marine system navigation ; guidance and control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA