The Journal of Japan Institute of Navigation
Online ISSN : 2187-3275
Print ISSN : 0388-7405
ISSN-L : 0388-7405
Examination of Sea Experimental System for Catamaran Type USV Development
Keisuke WATANABEMasatoshi SHIMPO
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2022 Volume 146 Pages 30-39

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Abstract

Catamaran type Unmanned Surface Vehicle (USV) has many applications as an autonomous platform in the field of marine engineering, such as collection of marine waste in harbors, support vessels for offshore work, ocean observation platforms, maintenance vessels for offshore wind power generation and so on. The authors have been constructing a tank experiment system and conducting a basic study of control algorithms by simulation with the aim of developing a system necessary for autonomy. As the next step, experiments in the actual sea area are essential for developing a system that autonomously navigates in unknown disturbances. In this paper, we discuss the optimal control algorithm that we designed based on the results of simulations of trajectory tracking control and the outline of the USV system from the viewpoint of constructing experimental system at sea.

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この記事はクリエイティブ・コモンズ [表示 - 非営利 - 改変禁止 4.0 国際]ライセンスの下に提供されています。
https://creativecommons.org/licenses/by-nc-nd/4.0/deed.ja
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