The Unmanned Port Security Vessel an Autonomous Platform for Monitoring Ports and Harbors
The SeaSlug: An Autonomous Ocean Surface Vessel
32
Bryant Mairs, Ren E. Curry, Gabriel H. Elkaim Bryant Mairs, Ren E. Curry, Gabriel H. Elkaim bwmairs, rcurry, [email protected] bwmairs, rcurry, [email protected] University of California, Santa Cruz University of California, Santa Cruz The SeaSlug: An Autonomous Ocean The SeaSlug: An Autonomous Ocean Surface Vessel Surface Vessel
Transcript of The SeaSlug: An Autonomous Ocean Surface Vessel
Bryant Mairs, Ren E. Curry, Gabriel H. ElkaimBryant Mairs, Ren E. Curry, Gabriel H. Elkaimbwmairs, rcurry, [email protected], rcurry, [email protected]
University of California, Santa Cruz University of California, Santa Cruz
The SeaSlug: An Autonomous Ocean The SeaSlug: An Autonomous Ocean Surface VesselSurface Vessel
2
The SeaSlugControl Algorithms
Mission Results
3
The SeaSlug
4
Architecture
5
Architecture
6
Architecture
7
Architecture
9
Systems Overview
10
The CANode
11
The CANode
12
Simulation Environment
Controller
Environment & Vehicle Model
MATLAB
Recorded Telemetry
Autopilot Hardware
Environment & Vehicle Model
MATLAB
C Compiler
Simulation HIL Simulation
13
The SeaSlugControl Algorithms
Mission Results
14
L2+ Controller
Pursuit-guidanceLook-ahead time
Desired Path
p
C
L2
Vg
acmd
η
R
η η
R
15
L2+ Mode Switching
16
Intercept Angle
17
Inverse Bicycle Model
18
Inverse Bicycle Model
19
L2+ on an ASV
20
Compensating for Slow Yaw Rates
L2
+ To RudderAngle
αcmd +
-SeaSlug
IMU
GPS
Ψ̇
δcmd
Ψ̇K
21
Compensating for Slow Yaw Rates
22
GPS Offset Correction
23
GPS Offset Correction
24
GPS Offset Correction
Co
urs
e o
ver
gro
un
d (
de
g)
Time (s)130 135 140 145 150 155 160 165 170
-50
0
50
100
150
200
250
No
rth
(m
)
East (m)-75 -70 -65 -60 -55
380
382
384
386
388
390
392
394
396
398
400
25
The SeaSlugControl Algorithms
Ocean Testing
26
Open-ocean Repeatability Tests
27
Open-ocean Repeatability Tests
Mean (m) Std. Dev. (m)
Trapezoid (run 1) 0.12 0.96
Trapezoid (run 2) 0.05 0.82
Bowtie (run 1) -0.06 1.02
Bowtie (run 2) 0.05 0.88
28
Algal Bloom Data
29
Algal Bloom Performance
30
Oceanographic Sensors
31
Front Detection Data
32
Front Detection Performance
33
Questions?
![WARTSILA AUTONOMOUS VESSEL ADVANCES - NAMEPAWARTSILA AUTONOMOUS VESSEL ADVANCES 1 15.3.2018 [Presentation name / Author] Kevin Humphreys Business Development Manager - Americas Wartsila](https://static.fdocuments.us/doc/165x107/5e6a9f937b476068ef466113/wartsila-autonomous-vessel-advances-namepa-wartsila-autonomous-vessel-advances.jpg)
