Line Following Guidance Control: Application to the Charlie Unmanned Surface Vehicle

被引：14

作者：

Bibuli, M. ^{[1
]}

Bruzzone, G. ^{[1
]}

Caccia, M. ^{[1
]}

Indiveri, G. ^{[2
]}

Zizzari, A. A. ^{[2
]}

机构：

[1] CNR ISSIA, Via De Marini 6, I-16149 Genoa, Italy

[2] Univ Salento, I-73100 Lecce, Italy

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650890

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A line following guidance solution for underactuated marine systems is presented. The approach differs from other ones known in the literature in the definition of the error variables to be stabilized to zero. The proposed guidance technique has been applied to the Charlie USV (Unmanned Surface Vehicle), developed by CNR-ISSIA Autonomous robotic systems and control group, and experimental results are presented.

引用

页码：3641 / +

页数：3

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