Path Following of a Water-Jetted USV Based on Maneuverability Tests
Due to the high propulsive efficiency and better maneuverability under high speed, the water-jetted unmanned surface vehicle (USV) is widely studied and used. This paper presents complete maneuvering tests and control algorithm designed for a twin water-jetted USV model. Firstly, a wireless network...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-05-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/8/5/354 |
| _version_ | 1797567819032821760 |
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| author | Junmin Mou Yangying He Benren Zhang Shixuan Li Yong Xiong |
| author_facet | Junmin Mou Yangying He Benren Zhang Shixuan Li Yong Xiong |
| author_sort | Junmin Mou |
| collection | DOAJ |
| description | Due to the high propulsive efficiency and better maneuverability under high speed, the water-jetted unmanned surface vehicle (USV) is widely studied and used. This paper presents complete maneuvering tests and control algorithm designed for a twin water-jetted USV model. Firstly, a wireless network control platform is established, and maneuvering tests, for instance, an inertia test, zig-zag test and turning test, are carried out to verify the maneuverability of the USV. In light of the complexity and uncertainty of ship sailing and ship handling, the Human Simulated Intelligent Control (HSIC) method is utilized to optimize the response time, accuracy and robustness of the controller. Finally, for the path following and track rectification part, a Line of Sight (LOS) algorithm is improved and proved practicable with triangle/square path tests. The proposed intelligent navigation algorithm specially designed for matching with the control methods, showing satisfactory improvements on the motion control and path following of the specific USV. |
| first_indexed | 2024-03-10T19:46:59Z |
| format | Article |
| id | doaj.art-b175ae808b1946d1a604142901b050fc |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T19:46:59Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-b175ae808b1946d1a604142901b050fc2023-11-20T00:43:17ZengMDPI AGJournal of Marine Science and Engineering2077-13122020-05-018535410.3390/jmse8050354Path Following of a Water-Jetted USV Based on Maneuverability TestsJunmin Mou0Yangying He1Benren Zhang2Shixuan Li3Yong Xiong4Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan 430063, ChinaSchool of Navigation, Wuhan University of Technology, Wuhan 430063, ChinaHubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan 430063, ChinaDepartment of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA 90017, USAHubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan 430063, ChinaDue to the high propulsive efficiency and better maneuverability under high speed, the water-jetted unmanned surface vehicle (USV) is widely studied and used. This paper presents complete maneuvering tests and control algorithm designed for a twin water-jetted USV model. Firstly, a wireless network control platform is established, and maneuvering tests, for instance, an inertia test, zig-zag test and turning test, are carried out to verify the maneuverability of the USV. In light of the complexity and uncertainty of ship sailing and ship handling, the Human Simulated Intelligent Control (HSIC) method is utilized to optimize the response time, accuracy and robustness of the controller. Finally, for the path following and track rectification part, a Line of Sight (LOS) algorithm is improved and proved practicable with triangle/square path tests. The proposed intelligent navigation algorithm specially designed for matching with the control methods, showing satisfactory improvements on the motion control and path following of the specific USV.https://www.mdpi.com/2077-1312/8/5/354water-jetted USVmaneuveringwireless network control platformmodel testsHSIC algorithmpath following |
| spellingShingle | Junmin Mou Yangying He Benren Zhang Shixuan Li Yong Xiong Path Following of a Water-Jetted USV Based on Maneuverability Tests Journal of Marine Science and Engineering water-jetted USV maneuvering wireless network control platform model tests HSIC algorithm path following |
| title | Path Following of a Water-Jetted USV Based on Maneuverability Tests |
| title_full | Path Following of a Water-Jetted USV Based on Maneuverability Tests |
| title_fullStr | Path Following of a Water-Jetted USV Based on Maneuverability Tests |
| title_full_unstemmed | Path Following of a Water-Jetted USV Based on Maneuverability Tests |
| title_short | Path Following of a Water-Jetted USV Based on Maneuverability Tests |
| title_sort | path following of a water jetted usv based on maneuverability tests |
| topic | water-jetted USV maneuvering wireless network control platform model tests HSIC algorithm path following |
| url | https://www.mdpi.com/2077-1312/8/5/354 |
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