A Novel and Inexpensive Solution to Build Autonomous Surface Vehicles Capable of Negotiating Highly Disturbed Environments
A Novel and Inexpensive Solution to Build Autonomous Surface Vehicles Capable of Negotiating Highly Disturbed Environments
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一种新颖且廉价的解决方案，用于构建能够适应高度干扰环境的自主地面车辆
DOI：
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发表时间：
2019
期刊：
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通讯作者：
Jason Moulton
中科院分区：
文献类型：
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作者：
Jason Moulton
本文的主要贡献有四个方面。第一个贡献是设计和建造一支远程、中程可部署自动水面车辆(ASV)舰队。第二是开发、实施和测试廉价的传感器，以准确测量风、流和深度环境变量。第三个利用前两个贡献，并对环境变量对ASV的影响进行建模，最终导致开发一种动态控制器，使其能够在更不确定的条件下进行部署。
This dissertation has four main contributions. The first contribution is the design and build of a fleet of long-range, medium-duration deployable autonomous surface vehicles (ASV). The second is the development, implementation and testing of inexpensive sensors to accurately measure wind, current, and depth environmental variables. The third leverages the first two contributions, and is modeling the effects of environmental variables on an ASV, finally leading to the development of a dynamic controller enabling deployment in more uncertain conditions.