The research about the kinetics model for planning and control modules in the robotic system is very important. This paper describes the research about the Unmanned Surface Vehicle (USV) kinetics model based on the classical linear model and modified model under the disturbance of bank effect items for automatic berthing system in the shallow water area. This research utilizes a small-scale USV with GPS/IMU inertial navigation system and two propellers to do some practical fields experiments and identify the parameters of USV linear model and modified model through the least square method, in which the modified model considers the couple hydrodynamics items and second-order items of bank effect. Finally, this paper discusses the rationality and feasibility of the modified USV model for automatic berthing and concludes which items are applied to add on for the automatic berthing research by comparing results of simulation and real experiments.


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    Title :

    Research on the Unmanned Surface Vehicle Kinetics Model for Automatic Berthing


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Zhang, Mengwei (author) / He, Yuqing (author) / Xiong, Junfeng (author)


    Publication date :

    2021-10-30


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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