A practical approach to modeling and identification of small autonomous surface craft

IEEE Journal of Oceanic Engineering

Volumn 33, Issue 2, 2008, Pages 133-145

  Caccia, Massimo ^a   Bruzzone, Gabriele ^a   Bono, Riccardo ^a  

^a CNR   (Italy)

Author keywords

Autonomous vehicles; Identification; Marine robotics; Modeling

Indexed keywords

AUTONOMOUS VEHICLES; IDENTIFICATION; IDENTIFICATION PROCEDURES; MARINE ROBOTICS; MODELING; PRACTICAL MODELS; SEA TRIALS; THEORETICAL MODELS;

EID: 56049104215     PISSN: 03649059     EISSN: None     Source Type: Journal    
DOI: 10.1109/JOE.2008.920157     Document Type: Article

References (23)

1. J. Manley, "Development of the autonomous surface craft "ACES"," in Proc. OCEANS Conf., 1997, vol. 2, pp. 827-832.
2. J. Manley, A. Marsh, W. Cornforth, and C. Wiseman, "Evolution of the autonomous surface craft AutoCat," in Proc. OCEANS Conf., 2000, vol. 1, pp. 403-408.
3. J. Curcio, J. Leonard, J. Vaganay, A. Patrikalakis, A. Bahr, D. Battle, H. Schmidt, and M. Grund, "Experiments in moving baseline navigation using autonomous surface craft," in Proc. OCEANS Conf., 2005, vol. 1, pp. 730-735.
4. M. Benjamin and J. Curcio, "COLREGS-based navigation in unmanned marine vehicles," in IEEE/OES Proc. Autonom. Underwater Veh., 2004, pp. 32-39.
5. J. Majohr and T. Buch, "Modeling, simulation and control of an autonomous surface marine vehicle for surveying applications Measuring Dolphin MESSIN," in Advances in Unmanned Marine Vehicles, ser. IEE Control. Herts, U.K.: Institution of Engineering and Technology, 2006, pp. 329-352.
6. M. Caccia, "Laser-triangulation optical-correlation sensor for ROV slow motion estimation," IEEE J. Ocean. Eng., vol. 31, no. 3, pp. 711-727, Jul. 2006.
7. J. Ebken, M. Bruch, and J. Lum, "Applying UGV technologies to unmanned surface vessels," in SPIE Proc. 5804 Unmanned Ground Veh. Technol. VII, 2005, pp. 585-596.
8. A. Pascoal, P. Oliveira, C. Silvestre, L. Sebastião, M. Rufino, V. Barroso, J. Gomes, G. Ayela, P. Coince, M. Cardew, A. Ryan, H. Braithwaite, N. Cardew, J. Trepte, N. Seube, J. Champeau, P. Dhaussy, V. Sauce, R. Moitié, R. Santos, F. Cardigos, M. Brussieux, and P. Dando, "Robotic ocean vehicles for marine science applications: The European ASIMOV project," in MTS/IEEE Proc. OCEANS, 2000, vol. 1, pp. 409-415.
9. T. Xu, J. Chudley, and R. Sutton, "Soft computing design of a multisensor data fusion system for an unmanned surface vehicle navigation," in Proc. 7th IFAC Conf. Maneuvering Control Mar. Craft 2006, CD-ROM.
10. Society for Underwater Technology, "Issues concerning the rules for the operation for autonomous marine vehicles (AMV)," London, U.K., Consultation Paper, Aug. 7, 2006 [Online]. Available: http:// www.sig.sut.org.uk/urg_uris/URG_AMV_paper.pdf
11. A. Morrison and D. Yoerger, "Determination of the hydrodynamic parameters of an underwater vehicle during small scale, nonuniform, 1-dimensional translation," in Proc. OCEANS Conf., 1993, vol. 2, pp. 277-282.
12. M. Carreras, A. Tiano, A. El-Fakdi, A. Zirilli, and P. Ridao, "On the identification of non linear models of unmanned underwater vehicles," in Proc. 1st IFAC Workshop Guid. Control Underwater Veh., 2003, pp. 59-64.
13. D. Smallwood and L. Whitcomb, "Adaptive identification of dynamically positioned underwater robotic vehicles," IEEE Trans. Control Syst. Technol., vol. 11, no. 4, pp. 505-515, Jul. 2003.
14. M. Caccia, G. Indiveri, and G. Veruggio, "Modeling and identification of open-frame variable configuration unmanned underwater vehicles," IEEE J. Ocean. Eng., vol. 25, no. 2, pp. 227-240, Apr. 2000.
15. T. Fossen, Guidance and Control of Ocean Vehicles. London, U.K.: Wiley, 1994.
16. T. Perez and M. Blanke, "Mathematical ship modeling for marine applications," Technical Univ. Denmark, Kgs. Lyngby, Denmark, Tech. Rep., 2002 [Online]. Available: http://www.iau.dtu.dk/secretary/pdf/ TP-MB-shipmod.pdf
17. M. Caccia, R. Bono, G. Bruzzone, G. Bruzzone, E. Spirandelli, G. Veruggio, A. Stortini, and G. Capodaglio, "Sampling sea surface with SESAMO," IEEE Robot. Autom. Mag., vol. 12, no. 3, pp. 95-105, Sep. 2005.
18. G. Bruzzone and M. Caccia, "GNU/Linux-based architecture for embedded real-time marine robotics control systems," in Proc. IARP Int. Workshop Underwater Robot., Genova, Italy, 2005, pp. 137-144.
19. M. Caccia, "Modeling and identification of Charlie2005," CNR-ISSIA, Genova, Italy, Rob-05-CharlieId, 2005.
20. W. Ochieng and K. Sauer, "Urban road transport navigation: Performance of the global positioning system after selective availability," Transport. Res. C, Emerging Technol., vol. 10, pp. 171-187, 2002.
21. C. Goodwin and R. Payne, Dynamic System Identification: Experiment Design and Data Analysis. New York: Academic, 1997.
22. M. Caccia, M. Bibuli, R. Bono, and G. Bruzzone, "Basic navigation, guidance and control of the Charlie2005 ASC," in Proc. Eur. Control Conf., 2007, CD-ROM.
23. M. Bibuli, M. Caccia, and L. Lapierre, "Path-following algorithms and experiments for an autonomous surface vehicle," in Proc. IFAC Conf. Control Appl. Mar. Syst., 2007, CD-ROM.