Version 1
: Received: 13 May 2023 / Approved: 15 May 2023 / Online: 15 May 2023 (07:50:22 CEST)
How to cite:
Ren, T.; Wang, D.; Zou, Y. Autonomous Catamaran Unmanned Surface Vessel Based on GPS And Radar. Preprints2023, 2023050998. https://doi.org/10.20944/preprints202305.0998.v1
Ren, T.; Wang, D.; Zou, Y. Autonomous Catamaran Unmanned Surface Vessel Based on GPS And Radar. Preprints 2023, 2023050998. https://doi.org/10.20944/preprints202305.0998.v1
Ren, T.; Wang, D.; Zou, Y. Autonomous Catamaran Unmanned Surface Vessel Based on GPS And Radar. Preprints2023, 2023050998. https://doi.org/10.20944/preprints202305.0998.v1
APA Style
Ren, T., Wang, D., & Zou, Y. (2023). Autonomous Catamaran Unmanned Surface Vessel Based on GPS And Radar. Preprints. https://doi.org/10.20944/preprints202305.0998.v1
Chicago/Turabian Style
Ren, T., Dan Wang and Yingquan Zou. 2023 "Autonomous Catamaran Unmanned Surface Vessel Based on GPS And Radar" Preprints. https://doi.org/10.20944/preprints202305.0998.v1
Abstract
This work presents a new scheme for autonomous control and obstacle detection of a catamaran unmanned surface vessel. Based on the Newtonian mechanics, hydrodynamics, and maneuvering modelling group modelling principles in the attached coordinate system, a three-degree-of-freedom motion model of the catamaran unmanned surface vessel is constructed. The fuzzy inference method is used to overcome the drawback that the traditional PID control cannot tune the PID parameters online, and the trajectory controller is designed. Meanwhile, 3D LIDAR is used to achieve obstacle detection. The results of the trajectory tracking simulations and experiments verify the accuracy of the model design and the effectiveness of the autonomous control design.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
