A Survey on Tactical Control Algorithms for Path Tracking Unmanned Surface Vehicles

Date

2016-11-15

Author

Kumru, Murat
Leblebicioğlu, Mehmet Kemal

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

357
views

0
downloads

In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater vehicle (UUV). USV with the help of its onboard acoustic sensors, tracks UUV according to constant bearing guidance rule. The survey on tactical controllers comprises comparisons of tracking performances of USVs under proportional-integral-derivative, pole placement, feedback linearization and sliding mode controllers according to the strategic goal. The parameters of the controllers are tuned with a common elitist genetic algorithm optimization infrastructure. The disturbance rejection capabilities of the controllers are discussed through Monte Carlo simulations of USVs within various wave disturbances as well.

Subject Keywords

Unmanned surface vehicles, USV, Modeling, PID, Pole placement, Feedback linearization, Sliding mode controller, Path tracking, Genetic algorithm

URI

https://hdl.handle.net/11511/54472

Conference Name

14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

An Approach for System Identification in Unmanned Surface Vehicles Erunsal, Izzet Kagan; Ahiska, Kenan; Kumru, Murat; Leblebicioğlu, Mehmet Kemal (2017-10-21) In this study, a system identification methodology is introduced to determine the model parameters of unmanned surface vehicles. The proposed identification scheme is based on sequencing the experiments according to their capabilities to identify the model parameters. In each experiment, the parameters to be found are updated and the results are validated before ascertaining the final value. A procedure to complete the identification work in an experiment, namely the required post-processing, the optimizati...
Design of Circling Around a Target Controllers for Mobile Robots by Feedback Linearization ŞAMİLOĞLU, ANDAÇ TÖRE; GAZİ, VEYSEL; Koku, Ahmet Buğra (2010-08-28) Unlike the studies in the literature utilizing pre-generated paths for tracking circular trajectories by mobile robots, in this study the circling around a target problem is considered as a periodic system problem and the states in the system kinematics are forced to converge to periodical trajectories. We propose controllers for the circling around a target behavior of mobile robots developed by static and dynamic feedback linearization techniques. We derive the conditions on the underdamped and overdamped...
Optimal Autopilot and Guidance of the ROV: SAGA Kartal, Seda Karadeniz; Ege, Emre; Leblebicioğlu, Mehmet Kemal (2016-05-20) In this study, an optimal autopilot algorithm is developed for 3D motion of SAGA which is an unmanned underwater survey vehicle. Firstly, a nonlinear mathematical model for SAGA is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The resultant nonlinear system is then controlled by PID controllers. These PID controllers arc designed for 3D motion which is realized by a suitable combination of right, left and vertical thrusters. The optimal control probl...
A COMPARATIVE STUDY OF HYPERSPECTRAL ANOMALY AND SIGNATURE BASED TARGET DETECTION METHODS FOR OIL SPILLS Soydan, Hilal; Koz, Alper; Düzgün, Hafize Şebnem; Alatan, Abdullah Aydın (2015-06-05) Hyperspectral target detection methods have until now progressed mainly on two paths in remote sensing research. The first approach, anomaly detection methods, use the difference of a local region with respect to its neighborhood to analyze the image without using any prior information of the searched target. The second approach on the other hand uses a previously obtained signature of the target, which uniquely represents the target's characteristics with respect to the spectral wavelengths. The signature ...
Evaluation of multi target tracking algorithms in the presence of clutter Güner, Onur; Kuzuoğlu, Mustafa; Department of Electrical and Electronics Engineering (2005) This thesis describes the theoretical bases, implementation and testing of a multi target tracking approach in radar applications. The main concern in this thesis is the evaluation of the performance of tracking algorithms in the presence of false alarms due to clutter. Multi target tracking algorithms are composed of three main parts: track initiation, data association and estimation. Two methods are proposed for track initiation in this work. First one is the track score function followed by a threshold c...

Citation Formats

M. Kumru and M. K. Leblebicioğlu, “A Survey on Tactical Control Algorithms for Path Tracking Unmanned Surface Vehicles,” presented at the 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phukhet, THAILAND, 2016, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54472.