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Tracking Control of an Unmanned Surface Vehicle

  • Ngoc-Huy Tran
  • Hyeung-Sik Choi
  • Se-Hoon Baek
  • Hee-Young Shin
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 282)

Abstract

Nowaday, unmanned surface vehicle (USV) has been a special attention for marine research and surveying exploration in costal area. This paper describes an analysis about architecture and control system of a USV disposed with three fixed thrusters. Therefore, hardware and software architectures of control system will be mentioned and functions of all parts are clarified. A strategy design for tracking waypoints is presented. And this algorithm will be checked by simulation and experiments.

Keywords

Unmanned Surface Vehicle Waypoints Tracking Dynamic Positioning Extended Kalman Filter 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Ngoc-Huy Tran
    • 1
  • Hyeung-Sik Choi
    • 1
  • Se-Hoon Baek
    • 1
  • Hee-Young Shin
    • 1
  1. 1.Division of Mechanical and Energy Systems EngineeringKorea Maritime UniversityPusanKorea

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