Guidance scheme for paths without temporary restrictions using the Krick Felix model boat under the influence of sea currents

  • Leidys Miranda Jiménez Universidad Central Marta Abreu de Las Villas, Santa Clara
  • Yunier Yunier Valeriano-Medina Universidad Central Marta Abreu de Las Villas, Santa Clara
  • Ángel Camero Álvarez Universidad Central Marta Abreu de Las Villas, Santa Clara
Keywords: Autonomous surface vehicles; guiding; I-LOS controller.

Abstract

The autonomous surface vehicles are composed of a guidance, navigation, and control systems where the first one plays an important role in missions without human intervention. This article presents the design of a guidance system made of an I-LOS controller, where its purpose is to achieve the convergence and the precise following of straight paths, regardless of the sea currents presence. The controller gains adjustment is performed according to the vehicle features and the geometry of the path to follow. The proposed guidance algorithm is assessed through simulation, obtaining favorable results.

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Author Biographies

Yunier Yunier Valeriano-Medina, Universidad Central Marta Abreu de Las Villas, Santa Clara

Doctor in Technical Sciences (2017), Master in Automation and Computer Systems (2013) and Automation Engineer from the Universidad Central "Marta Abreu" de Las Villas [UCLV] (Cuba, 2009). Researcher and professor at the Automation and Computer Systems Department of the Electrical Engineering Faculty of the UCLV, with nine years of experience. He is a member of the Automation, Robotics and Perception Group [GARP]. His research works have been awarded, among others, by the Cuban Academy of Sciences. His areas of interest include: theory and control systems; computer vision; mathematical modeling; dynamic; mechatronics; navigation; instrumentation; and guidance and control of unmanned vehicles.

Ángel Camero Álvarez, Universidad Central Marta Abreu de Las Villas, Santa Clara

Automation Engineer from the Universidad Central "Marta Abreu" de Las Villas (Cuba, 2018). His areas of professional interest include the modeling, control and guidance of unmanned vehicles and robotics.

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Published
2018-07-31
Section
Original Research