Development of a measurement and autonomous control system for wave-powered boats
Development of a measurement and autonomous control system for wave-powered boats
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DOI：
10.1109/oceans-yeosu.2012.6263546
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发表时间：
2012-05
期刊：
影响因子：
--
通讯作者：
N. Sakagami;Y. Terao
中科院分区：
文献类型：
--
作者：
N. Sakagami;Y. Terao
在本文中，我们提出了一个测量系统和控制系统的自主波动力船的发展。波浪动力船是在海洋中进行长期观测的有用工具，因为它们直接从海浪中吸收能量。作者之一设计和开发了波浪动力船，其中一艘在2008年从夏威夷到日本的长途航行中取得了成功（7800 [km]）。在这里，我们专注于波动力船的自主控制和实验数据采集。为了实现这一目的，我们开发了一个测量系统，一个自主控制系统和一个监控系统。在陆地和海湾地区进行了初步实验，以测试所开发的系统的性能。从实验中，测量系统从安装在试验平台波浪动力船上的多个传感器收集数据，控制系统将试验平台船移向理想的航路点，监控系统允许用户远程监控船的实时状态。
In this paper, we present the development of a measurement system and a control system for autonomous wave-powered boats. Wave-powered boats are useful tools for long-term observations in the ocean because they absorb energy directly from ocean waves. One of the authors has designed and developed wave-powered boats and one of them succeeded in long voyage from Hawaii to Japan (7800 [km]) in 2008. Here, we focus on autonomous control and experimental data acquisition for wave-powered boats. To achieve this purpose, we have developed a measurement system, an autonomous control system and a monitoring system. Preliminary experiments were performed on land and in a bay area in order to test the performance of the developed systems. From the experiments, the measurement system collected data from multiple sensors mounted on a testbed wave-powered boat, the control system moved the testbed boat toward a desirable waypoint, and the monitoring system allowed users to remotely monitor the realtime state of the boat.