PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M., Bruzzone G., Bono R. A Practical Approach to Modeling and Identification of Small Autonomous Surface Craft. In: IEEE Journal of Oceanic Engineering, vol. 33 (2) pp. 133 - 145. IEEE, 2008.
 
 
Abstract
(English)
This paper discusses the theoretical model of an autonomoussurface craft (ASC) with respect to the performance ofbasic sensors usually available onboard small and relatively lowcostvessels. The aim is to define a practical model and the correspondingidentification procedure for simulation, guidance, andcontrol of this class of vehicles. The work is supported by the extendedat-sea trials carried out with the autonomous catamaranprototype Charlie2005.
DOI: 10.1109/JOE.2008.920157
Subject Terms Autonomous vehicles
Identification
Marine robotics
Modeling


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