Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bibuli M., Bruzzone G., Caccia M., Indiveri G., Zizzari A. Line Following Guidance Control: Application to the Charlie Unmanned Surface Vehicle. In: IROS - International Conference on Intelligent Robots and Systems (Nice, France, 22-26 September 2008). Proceedings, pp. 3641 - 3646. Raja Chatila, Alonzo Kelly, Jean-Pierre Merlet (eds.). IEEE, 2008.
A line following guidance solution for underactuated marine systems is presented. The approach differs from other ones known in the literature in the definition of the error variables to be stabilized to zero. The proposed guidance technique has been applied to the Charlie USV (Unmanned Surface Vehicle), developed by CNR-ISSIA Autonomous robotic systems and control group, and experimental results are presented.
DOI: 10.1109/IROS.2008.4650890
Subject Charlie USV

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