loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Authors: Jungeun Yoon and Rockwon Kim

Affiliation: ETRI, South Korea

Keyword(s): Unmanned Surface Vehicle, Dual Thrust, 3-DOF Model, Parameter Identification, Gazebo Simulation.

Abstract: This study addresses the challenge of creating accurate kinetic model-based simulations for Unmanned Surface Vehicles (USVs) that replicate the VRX simulation environment. Without precise parameter estimation, discrepancies arise between kinetic model-based position predictions and the USV’s position in the VRX simulation. We propose a comprehensive method for parameter estimation to bridge this gap, coupled with a Dynamical PD+LOS controller to further minimize operational differences. In the control using the kinetic model with the best fit thrust parameters and drag coefficients, the turning radius may vary depending on these parameters. To handle this, it not only calculates the thrust difference based on the heading error but also dynamically adjusts the base thrust according to the speed and distance to the target. This approach prevents over-correction and ensures better alignment between the kinetic model prediction path and VRX movement. The proposed methodology was validate d through circle and zigzag path tests. Results demonstrated high fidelity, with position errors of 2% and time errors of 0.37% between the VRX and kinetic model. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.139.94.174

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Yoon, J. and Kim, R. (2024). Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7; ISSN 2184-2809, SciTePress, pages 368-375. DOI: 10.5220/0013010600003822

@conference{icinco24,
author={Jungeun Yoon and Rockwon Kim},
title={Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={368-375},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013010600003822},
isbn={978-989-758-717-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Identifying Kinetic Model Parameters and Implementing 3-DOF Control for a Dual-Thruster USV: A Case Study Using the VRX Simulation Environment
SN - 978-989-758-717-7
IS - 2184-2809
AU - Yoon, J.
AU - Kim, R.
PY - 2024
SP - 368
EP - 375
DO - 10.5220/0013010600003822
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic