Abstract:
Unmanned surface vehicles (USVs) operating in marine environments are often subjected to external disturbances, such as water waves and currents that might considerably a...Show MoreMetadata
Abstract:
Unmanned surface vehicles (USVs) operating in marine environments are often subjected to external disturbances, such as water waves and currents that might considerably affect system dynamics. Due to the complexity of existing tools used to capture their effects on system dynamics, they are often discarded or at most replaced by a mild form of noise. Indeed, traditional estimation methods often rely on complex procedures involving a battery of experiments conducted both in laboratory settings and outdoors in actual operating environments, followed by intensive hydrodynamics computations. Stochastic noise has been shown in the literature to better capture the uncertainties acting on marine vehicles. In this work, we propose a stochastic model to recreate the disturbances observed on small catamaran USVs moving at lower speed in their operating environment. A maximum likelihood method is proposed to identify the noisy dynamics of the USVs using limited amounts of experimental data gathered in the operating environment. Analytical expressions are derived which reduce the computational effort required to estimate model parameters. The proposed framework is shown to be effective at replicating the distribution of the noise and predicting the future trajectories of the USVs by a few time horizons in actual operating environments.
Published in: IEEE Transactions on Control Systems Technology ( Volume: 32, Issue: 5, September 2024)
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- IEEE Keywords
- Index Terms
- Maximum Likelihood Estimation ,
- Vehicle Dynamics ,
- Autonomous Surface Vehicles ,
- Model Parameters ,
- System Dynamics ,
- Maximum Likelihood Method ,
- Marine Environment ,
- Stochastic Model ,
- Model Parameter Estimates ,
- Current Water ,
- Stochastic Noise ,
- Water Waves ,
- Amount Of Experimental Data ,
- Form Of Noise ,
- Traditional Estimation Methods ,
- Computation Time ,
- Angular Velocity ,
- Symmetric Matrix ,
- Likelihood Function ,
- Velocity Components ,
- Stochastic Differential Equations ,
- Sway Velocity ,
- Compact Notation ,
- Unmodeled Dynamics ,
- Hydrodynamic Forces ,
- Turn Rate ,
- Centripetal Force ,
- Wind Gusts ,
- Lower Triangular ,
- Noise Intensity
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Maximum Likelihood Estimation ,
- Vehicle Dynamics ,
- Autonomous Surface Vehicles ,
- Model Parameters ,
- System Dynamics ,
- Maximum Likelihood Method ,
- Marine Environment ,
- Stochastic Model ,
- Model Parameter Estimates ,
- Current Water ,
- Stochastic Noise ,
- Water Waves ,
- Amount Of Experimental Data ,
- Form Of Noise ,
- Traditional Estimation Methods ,
- Computation Time ,
- Angular Velocity ,
- Symmetric Matrix ,
- Likelihood Function ,
- Velocity Components ,
- Stochastic Differential Equations ,
- Sway Velocity ,
- Compact Notation ,
- Unmodeled Dynamics ,
- Hydrodynamic Forces ,
- Turn Rate ,
- Centripetal Force ,
- Wind Gusts ,
- Lower Triangular ,
- Noise Intensity
- Author Keywords