抄録
In the literature, model identification methodologies for unmanned surface vehicles with propulsion and steering systems based on propellers and rudders is commonly found, but not for catamaran type surface vehicles with propulsion and steering system based on only two propellers. Therefore, this research introduces a new easy and systematic identification methodology for this last surface vehicles. This methodology consists of experiments with three different maneuvers: straight line motion, circular motion and rotational motion. This methodology do not demand expensive equipment such as high precision GPSs or costly facilities such as tow-tanks, which is an advantage of it. The methodology was tested with a small size catamaran type surface vehicle and the parameters identified with this test were validated through simulations.
