Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle
An autonomous monitoring and control system of unmanned surface vehicle (USV) with mobile water quality monitoring, sampling, and oxygenation functions is constructed. The control hardware and monitoring configuration software of the system is designed, respectively, which can be installed on USV an...
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2022/3652329 |
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| _version_ | 1832562183141064704 |
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| author | Jian Yuan Hailin Liu Wenxia Zhang |
| author_facet | Jian Yuan Hailin Liu Wenxia Zhang |
| author_sort | Jian Yuan |
| collection | DOAJ |
| description | An autonomous monitoring and control system of unmanned surface vehicle (USV) with mobile water quality monitoring, sampling, and oxygenation functions is constructed. The control hardware and monitoring configuration software of the system is designed, respectively, which can be installed on USV and its remote control and monitoring terminal. The kinematic modeling of USV, waypoint trajectory-tracking control, distributed controller, simulation of tracking control, and verification of software and hardware design are carried out. In order to reject the system noise and external noise, a states estimation method with fully observable states is considered in the control law design. The software and hardware are also implemented to verify the effectiveness of the monitoring platform. Through setting a series of monitoring target points and monitoring parameters in the configuration software of the remote user terminal or in the APP of the mobile user terminal, the USV can realize the automatic cruise monitoring using an autonomous navigation and tracking control algorithm, and quantitative water sampling collection. The reliability of the system is verified by the experiment of the shore test station, and the waypoint trajectory tracking and sensors data are replaying in a logview GUI of MOOS-Ivp and APP. |
| format | Article |
| id | doaj-art-583ec2960ae2443b9763e256d78ad131 |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-583ec2960ae2443b9763e256d78ad1312025-02-03T01:23:14ZengWileyJournal of Robotics1687-96192022-01-01202210.1155/2022/3652329Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface VehicleJian Yuan0Hailin Liu1Wenxia Zhang2Institute of Oceanographic InstrumentationInstitute of Oceanographic InstrumentationDepartment of Mechanical and Electrical EngineeringAn autonomous monitoring and control system of unmanned surface vehicle (USV) with mobile water quality monitoring, sampling, and oxygenation functions is constructed. The control hardware and monitoring configuration software of the system is designed, respectively, which can be installed on USV and its remote control and monitoring terminal. The kinematic modeling of USV, waypoint trajectory-tracking control, distributed controller, simulation of tracking control, and verification of software and hardware design are carried out. In order to reject the system noise and external noise, a states estimation method with fully observable states is considered in the control law design. The software and hardware are also implemented to verify the effectiveness of the monitoring platform. Through setting a series of monitoring target points and monitoring parameters in the configuration software of the remote user terminal or in the APP of the mobile user terminal, the USV can realize the automatic cruise monitoring using an autonomous navigation and tracking control algorithm, and quantitative water sampling collection. The reliability of the system is verified by the experiment of the shore test station, and the waypoint trajectory tracking and sensors data are replaying in a logview GUI of MOOS-Ivp and APP.http://dx.doi.org/10.1155/2022/3652329 |
| spellingShingle | Jian Yuan Hailin Liu Wenxia Zhang Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle Journal of Robotics |
| title | Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle |
| title_full | Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle |
| title_fullStr | Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle |
| title_full_unstemmed | Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle |
| title_short | Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle |
| title_sort | waypoint tracking control for autonomous mobile sampling and dissolved oxygen enrichment of unmanned surface vehicle |
| url | http://dx.doi.org/10.1155/2022/3652329 |
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