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A Practical Approach to Modeling and Identification of Small Autonomous Surface Craft

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3 Author(s)
Caccia, M. ; Inst. di Studi sui Sist. Intelligenti per l''Autom. (CNR-ISSIA), Consiglio Naz. delle Ric., Genova ; Bruzzone, G. ; Bono, R.

This paper discusses the theoretical model of an autonomous surface craft (ASC) with respect to the performance of basic sensors usually available onboard small and relatively low- cost vessels. The aim is to define a practical model and the corresponding identification procedure for simulation, guidance, and control of this class of vehicles. The work is supported by the extended at-sea trials carried out with the autonomous catamaran prototype Charlie2005.

Published in:

Oceanic Engineering, IEEE Journal of  (Volume:33 ,  Issue: 2 )