A Practical Approach to Modeling and Identification of Small Autonomous Surface Craft
- 26 September 2008
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal of Oceanic Engineering
- Vol. 33 (2), 133-145
- https://doi.org/10.1109/joe.2008.920157
Abstract
This paper discusses the theoretical model of an autonomous surface craft (ASC) with respect to the performance of basic sensors usually available onboard small and relatively low- cost vessels. The aim is to define a practical model and the corresponding identification procedure for simulation, guidance, and control of this class of vehicles. The work is supported by the extended at-sea trials carried out with the autonomous catamaran prototype Charlie2005.Keywords
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