Path following of underactuated marine surface vessels in the presence of unknown ocean currents
Path following of underactuated marine surface vessels in the presence of unknown ocean currents
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DOI：
10.1109/acc.2014.6858984
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发表时间：
2014-06
期刊：
影响因子：
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通讯作者：
Signe Moe;W. Caharija;K. Pettersen;I. Schjølberg
中科院分区：
文献类型：
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作者：
Signe Moe;W. Caharija;K. Pettersen;I. Schjølberg
无人船舶是多个研究领域的优先领域，但实现此类船舶的自主化仍面临许多挑战。自主船舶的基本任务是在未知洋流存在的情况下遵循一般路径。本文提出了一种在水面舰艇上实现这一目标的方法。该结果是[1]中有关当不存在洋流时空间曲线的路径跟踪的结果的扩展，并引入了一个虚拟的 Serret-Frenet 参考系，该参考系锚定在所需路径中并沿所需路径传播。该闭环系统由洋流观测器、制导律、控制器和更新律组成，驱动Serret-Frenet框架沿路径运动，如图所示为UGAS。给出了仿真结果来验证理论结果。
Unmanned marine crafts constitute a priority area within several fields of study, and there are still many challenges related to making such vessels autonomous. A basic task of an autonomous marine craft is to follow a general path in the presence of unknown ocean currents. This paper presents a method to achieve this for surface vessels. The results are an extension of the results in [1] regarding path following of space curves when no ocean currents are present, and introduce a virtual Serret-Frenet reference frame that is anchored in and propagates along the desired path. The closed-loop system consists of an ocean current observer, a guidance law, a controller and an update law to drive the Serret-Frenet frame along the path, and is shown to be UGAS. Simulation results are presented to verify the theoretical results.