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Pregled bibliografske jedinice broj: 753014

Zbornik radova

Autori: Mišković, Nikola; Nađ, Đula; Vasilijević, Antonio; Vukić, Zoran
Naslov: Dynamic positioning of a diver tracking surface platform
Izvornik: Proceedings of the 19th World Congress The International Federation of Automatic Control / Boje, Edward ; Xia, Xiaohua (ur.). - International Federation of Automatic Control , 2014. 4228-4233 (ISBN: 978-3-902823-62-5).
ISSN: 1474-6670
Skup: 19th IFAC World Congress
Mjesto i datum: Cape Town, Južnoafrička Republika, 24-29.08.2014.
Ključne riječi: Unmanned marine vehicles ; Dynamic positioning ; Marine system navigation ; guidance and control
Sažetak:
This paper presents experimental results obtained on an autonomous omnidirectional surface marine platform, developed at the University of Zagreb, during two-week field trials in Murter, Croatia. We focus on results that are a part of the second phase of research on the platform that is intended to be used as a diver tracking platform. This phase includes experimental verification of the control and dynamic positioning (DP) algorithms performed in real environmental conditions, where external disturbances and sensor characteristics have significant influence on the vehicle behaviour. Specifically, we demonstrate 1) experimental results showing successful heading control of the overactuated marine platform even in cases when the platform is performing simultaneous omnidirectional motion ; 2) experimental results demonstrating the quality of the DP algorithm performance, and 3) how GPS update frequency influences the quality of DP performance and the quality of the commanded control signal with the navigation filter that uses only GPS measurement and an uncoupled dynamic model of the omnidirectional marine platform.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
URL Internet adrese: http://www.ifac-papersonline.net/Detailed/66567.html
Upisao u CROSBI: Nikola Mišković (nikola.miskovic@fer.hr), 25. Vel. 2015. u 11:30 sati



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