Development of the USV ‘JingHai-I’ and sea trials in the Southern Yellow Sea

详细信息    查看全文

• 作者：Yan Peng^a ; Yi Yang^a ; Jianxiang Cui^a ; Xiaomao Li^a ; Huayan Pu^a ; Jason Gu^b ; Shaorong Xie^a ; Jun Luo^a ;
• 关键词：Unmanned survey vehicle (USV) ; Hydrological measurement ; GPC-PID cascade controller ; Sea trial test
• 刊名：Ocean Engineering
• 出版年：2017
• 出版时间：1 February 2017
• 年：2017
• 卷：131
• 期：Complete
• 页码：186-196
• 全文大小：1587 K
• 卷排序：131

文摘

We have developed an unmanned survey vehicle enable safety to move in shallow waters. Two kind of control modes, autonomous navigation and remote manual control. A numerical model for the USV was built and a GPC-PID cascade controller is proposed. Transmit hydrological data and vehicle's running status to mother ship in real time. Health inspection management and a fault diagnosis system was designed.