PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M., Bibuli M., Bono R., Bruzzone G. Basic navigation, guidance and control of an Unmanned Surface Vehicle. In: Autonomous Robots, vol. 25 (4) pp. 349 - 365. Springer, 2008.
 
 
Abstract
(English)
This paper discusses the navigation, guidance andcontrol (NGC) system of an Unmanned Surface Vehicle(USV) through extended at sea trials carried out with theprototype autonomous catamaran Charlie. In particular, experimentsdemonstrate the effectiveness, both for precisionand power consumption, of extended Kalman filter and simplePID guidance and control laws to perform basic controltasks such as auto-heading, auto-speed and straight line followingwith a USV equipped only with GPS and compass.
DOI: 10.1007/s10514-008-9100-0
Subject Autonomous vehicles
Marine robotics
Guidance systems


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