Experimentally Adjusted Modelling and Simulation Technique for a Catamaran Autonomous Surface Vessel

Efficient and reliable computer control of different autonomous vehicles has become one of the high priority tasks of global technological development. So far, research of Autonomous Surface Vessels (ASVs) has been 4-6 times less intensive compared research of Unmanned Aerial Vehicles (UAVs) but interest in research of Unmanned Aerial Vehicles (UAVs) but interest in watercraft modelling has shown an accelerating trend in recent methodology of a realistic and practical mathematical model of catamaran catamaran ASV “Nymo” of 200 kg weight class developed in Tallinn University of Technology. Applicability of vessel model is maneuvers where ASV is controlled by a PID controller. The maneuvers where ASV is controlled by a PID controller. The coefficients are discussed.