文章基本信息

标题：Cooperative Distributed Navigation, Guidance, and Control Systems for Autonomous Surface Vehicles with Different Physical Connections
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作者：Johanna Noria Brecher ; Enrica Zereik ; Marco Bibuli 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：16
页码：208-215
DOI：10.1016/j.ifacol.2021.10.095
语种：English
出版社：Elsevier
摘要：AbstractIn the paper, we describe our studies to realize a control algorithm for distributed marine robots with rigid/elastic mechanical constraints between them. The work is carried out in the framework of the EUMR TNA project DINGOS. Our strategy follows the line to adapt conventional cooperative path-following algorithms from literature to the described problem in order to start to extend the concept of DP3, currently related to Dynamic Positioning, to the phase of motion along a path of a vessel. The usability of different concepts is evaluated following some well-defined quality criteria in a kinematic simulation.
关键词：KeywordsMaritime robotics (underwatersurfaceaerial)Cooperative navigationcontrolGuidancenavigationcontrol (GNC) of unmanned marine vehicles (surfaceunderwater)Autonomousremotely operated (surfaceunderwater) marine vesselsMarine swarms of heterogeneous agents